NATIONAL ADVISORY COMMITTEE FOR AERONAUTICS TECHNICAL NOTE 3360 LOAN COPY: AFWL (WLL—) KIRTLAND AFB, MEX THE LINEARIZED EQUATIONS OF MOTION UNDERLYING THE DYNAMIG STABILITY OF AIRCRAFT, SPINNING PROJECTILES, AND SYMMETRICAL MISSILES By A. C, Charters Ames Aeronautical Laboratory Moffett Field, Calif. Washington January 1955TECH LIBRARY KAFB, NM sao, sas cosaens 09 wsoworese MINED COL6O54 ‘TECHNICAL NOTE 3350 THE LINEARIZED EQUATIONS OF MOTION UNDERLYING TEE DYNAMIC STABILITY OF ATRORAPT, SPINNING PROJECTILES, AND SHQGTRICAL MISSILES By A. C. Charters SUMMARY Linearized equations of motioh are derived for both conventions eirereft having mirror eymetry and spinning projectiles or misetles having rotational and mirror syumetry. The eerodynamic coefficients are introduced as a fomal series expansion in the customary veriebles, with additional terms being included to account for the aerodynanic effects of spin, ‘The requirenents of symetry are used to reduce the system of serodynamic coefficients and, in the projectile or miecile case, to clarify markedly the geouetry. A common mathemstical approach end standard NACA nomenclature ere used throughout. Tac equetions for aircraft ere compared with those for missiles and shortcomings in the currently accepted theories are pointed out. The aynemic-stability requirements for spin-stabilized projectiles are dis- cussed briefly. Tee results are spplied to the anelysie of flight-test dete fron the serodynamics range, Relations are derived between the serodynamic coeffi- clents and the constants of the equations of motion. A comparison is made with ballistic theory in current use and 12 found to be satisfactory. ‘INTRODUCTION ‘The dynamic stability of eircraft is e subject that has been explored at great length, The theory of the motion of spinning projectiles bas also been studied extensively. No further development of either subject is needed per se, at least in so far as first-order effects are concerned. Om the other hand, modern trends in seronautics and ballistics have brought the flight performance end even the physicel appearance of aircraft and projectiles closer and closer together, Hence, a need now existe for =2 NACA TN 3350 theory of motion that covers both cases similteneously with e single nonen- clature and a common mathematical development. In the present analysis, aircraft are distinguished from projectiles snd symmetrical missiles as follows 1, Aircraft are aseumed (2) to have a plane of mirror symmetry through the longitudinal exis and (b) to fly only eligatly disturbed from a steady-state equilibrium attitude so that all components of the anguler velocity of the aircraft are small, 2, Projectiles end symetrice] missiles are ascuned (a) to have not only a plane of mirror syuetry but also 90° rotational eymetry (or its equivelent) end (b) to fly siuflerly to aircraft except thet the axiel conponent of the engular velocity, the spin, aay be large (with the restriction that the change in the spin must be ensll). Despite these differences, the flight of both aircraft and projec- - tiles takes place under closely similar circumstances. The anelysis oF ‘the motion in each cese is the classical analysis of a rigid body moving under the ection of external forces, The differential equations of motion sre derived in both cases fron the vector equations relating the rates of change of the linear and angular momente to the external force and moment. Furtheruore, the conditions of flight preseribea are the came, namely, both mst fly in nearly @ straight line at nearly constant velocity and the inclination to the flight path must be small. The aerodynamic~force 7 syaten postulated is the same: The aerodynamic forces and moments are assumed to be linear functions of the velocity and the angular velocity. In both theories the equstions of motion are linearized by the neglect of second-order terns. One might well suppose that the dynemic atebility of aircraft and projectiles had been treated by a comuon development. Such is far from the ease, The dynamic stability of etreraft vas first anelyzed by Lenchester around 1900; the corresponding anslysie of the dynamic stability of spin stabilized projectiles was made by Fowler and bis associates in 1920 (see refs. 1 and 2), Both men had very practical objectives in mind. Lanchester wes interested in the flying qualities of airplenes. Fowler wished to find the design criteria for an artillery shell that vould inure a true flight to the target end a strike head on. Both attacked the problen inde- pendently and their divergence of interest 48 atrongly reflected in the ‘two developments of the theory, a Aivergence watch bas continued for all practical purposes to the present time. A casual observer reading the literature on dynamic atability would . be left with the impression thet ballisticians and aeronautical engineers were concerned with entirely different problems, The nomenclature is different; the geonetry does not appear at first glance to be related; the « mathenetical treatuents differ radically. The cesual observer's judgmentACA IN 3350 3 would not be so superficial efter all, for it is only feir to say that the theory developed to-handle the dynemic stability of aircraft 1s not adequate in its present form to predict the dynamic stability of spinning projectiles, and vice versa. For example, the aircraft equations do not describe the gyroscopic nutation and precession of e spinning shell, and the projectile equations do not describe the phugoid oseilletion of air- craft. : Recently, R. E. Bolz and J. D. Nicolaides have derived the dynamic stability of spinning projectiles and symmetrical missiles in terme femil- ter to the acrodynemicist (see refs. 3 and 4), Although their derivations go e long ways toward joining the theories of Lanchester and Fowler, both omit the foree of grevity and contain certain other restrictions with the result that a gap as yet renaine between the case of the eircreft, flying with ite weight balanced by lift, and the case of the gyroscopically stabilized projectile, flying with varying velocity and epin, It ie the purpose of thie paper to bridge the gap, that ia, to treat the two cases with strictly oimiler mathematical developments and vith e common nomen- clature, In addition, it is desired to apply the resulte of thie theory to the analysis of experimental data obtained from a relatively new flight- teat facility, the aerodynemics range. ‘The development of the theory presented herein follows closely the customary treatment of the dynemic stability of aircraft with the primary difference being the eiuultencous treatment of longitudinal end lateral stebility, The nonenclature conforms throughout to NACA standards, The other departures of importance from conventional aircraft theory are a rather formal development of the eerodynamic force system and the thorough use of the condition of symmetry essumed for the body, ae is done in the bellistie theory, In fact, it might be said that the present development is a welding together of these aspects of the conventional aerodynamic end ballistic theories which, In the author's opinion, represent the most effective means of attacking the problen, SYMBOLS TELE) estate ta the (9 pte 82) 8 A any quantity (mais symbol 1s used in the developnent of general trensforma- ‘t4ons.) Aa, Ag constants in the &(t+) equation Bos ®: * we = constants in the A(x*) equation4 NACA IN 3350 oS a constants in the @(xt) equation tents: force, _toments © serodmante corttictente: US, CE cp coefficient of aerodynamic asymmetry force oO coefficient of eerodynamic asymnetry moment dor aay ger dg; } constants in the &(x+) equation D operator, DA = ah - D operator, Da = 2A Cee fe + Cro f | 2 = fos fas eo 2} constents in the 9(x*) equation 2) fo F force, external, acting on body ‘ acceleration of gravity 5 angular nomentun of body i unit vector along X axts 4 nee I moment of inertia of body 3 unit vector along Y axis Sen, product of inertia of body « unit vector along Z axte a aNACA TN 3350 1, y % = e an %% 2 a Kg se xa, 5 UT oz i a z characteristic Length oe *» ge Cy, Ky? c: map Re oy 8 ine Hr, BRE a meas of body 1% a Hema we lig? Sng tg ke lngnp ae Beta, ame omg, ia? Bq + Xo + $V(K ~ ep) ba + Svmpp my + vm, onep axe “5p ie ard bu? linear mouentum of boay monent; external acting on boay Cop eed ale &lP aly NACA TN 3350 aNACA TN 3350 T Pqp Rap ot Po P(s) as) R(S) Si, 8 Buk X component of & variation in p over measured trajectory constant component of angular velocity about which the angular velocity in flight varies (p= py + 3") polynoniel factor in constante da, dg of §(x+) equation ¥ component of @ polynomiel factor in constents fa, f5 of A(x*) equation Z component of @ stebility quartic evapsasty tector, SY ine, ere length along trajectory characteristic ares independent variable in etebility quadratic roote of stability quartic, 8: = 43, S2 = d& time¥q *op NACA TN 3350 ale terms in SyR and Sa variation in velocity along trejectory velocity of center of gravity of body constant component of velocity about which the flight velocity varies (V = Vo + ¥) a + ok angular velocity of body with respect to XYZ exes istance along Xp axisNACA TN 3350 pp Ye ve Yeu Yop Yep Yor pp BF coordinate axis spsce-fixed coordinate axis distance along Yo axis coordinate axie epace-fixed coordinate axte istence along Zo axis at10 tq ee ok? eb 2s ag + tveep Baa, + Me Lt ag + ives bp coordinate axis space-fixed coordinate axis NACA TN 3350 x”NACA TW 3350 a angle of attack, 90° - + 27 angle of sideslip, 90° - inclination of flight path of steady-state glide to horizontal, + @Zo yt + iz*, nondimensional transverse displacement variable of integration, replaces x* in integrand ¥- 10 angle of pitch, angle between intersection of XoYo and ¥Zo planes and X arbitrary angle of rotation sbout Xx aircraft density factor, pst Po B+ ia density of the air bot tine factor, i angle of roll: Bircrafe: angle between intersection of 1% and YoY planes andy symetricel missile: angle between Y and Z angle of yaw, engie between Xo and intersection of Xoo and XZp planes22 NACA IN 3350 anguler velocity of body with respect to space-fixed exes angular velocity of the XYZ axes with reepect to the Xo¥o%o axes body-fixed coordinate axes, fixed in body for missiles and projectiles angle, 4 XY = engle between X and ¥ eretor, A = ah operetor, & = aA erator, A = Sh = ~ . at @ vector quantity Subscripts ‘The definitions of a11 subscripts epply to their ueage with all sym- bols except where the complete symbol with ite subscripts is defined as a unit. a D eercdynanic components couponent along trajectory (drag) gravity force componente Amaginery component component along X exis component normal to trajectory (lift) component along Y axis component elong % axis operation, Ap = SA op operation, fy « 3 2NACA TN 3350 33 ma r operation, Ay = a Bs R real component x component slong X y component slong ¥ 2 component along 2 a operation, Ay = 24 P tg = B é& operation, Ay = P a= S a eration, Ay = & 8 op BS 8 eration, As = 8 op 37% ° value of coefficient with u=peaehed=p=qer=0 ° value of quantity at 2 =0 or x=0 a component along 1 axis 2 component along 2 axia 3 component along 3 axis eo EQUATIONS OF MOTION FOR AIRCRAFT WITH ONE PLANE OF MIRROR SYMMETRY The essential features of Lanchesterte vork have formed the baste of ell oubsequent treatmenta of thia subject, although many details such ae nonenclature have deen modified to nest petter the changing densnae of air craft design. Dynamic stability ie = standard aubJect in aeronnutical textbooks (e.g., eee ref. 1 and 5) and, since the methods and results of the theory aze well knom, the aircraft case will be aketeied rapidly.a4 NACA TN 3350 Geometry The geonetry te shown in figures 1(a), 1(b), and 1(c). ‘Two sete of Cartesian coordinate axes ere used in developing the equetiona of notion. One set ie fixed in the aircraft and ie imown as “otebility axes." The other set de fixed with respect to the earth and is Imovn as "earth axes." The orientation of the tvo sete is shown in figure i(a). Figure 1(b) shows the location of the gravity vector with respect to earth axes end figure 1(c) the location of tae velocity vector wita respect to stability exes. In the figures the directions of the coordinate axes are indicated by unit vectors and the angles ty circuler arcs, which represent great circles on a unit sphere centered at the center of gravity. Both sets of axes are right-handed, es defined in reference 1; that is, the positive sense of & component rotation or couple sbout any axis is "determined by reference to @ right-handed screw, when fecing the positive direction of the exis.” It will be noted thet the various features of this geometry conform throughout to NACA standards, The stability axes are desigmeted by XYZ. They ere fixed in the eireraft and are oriented eo thet Y 48 perpendicular to the plane of symetry and Z is perpendicular to the relative wind in steady flight. Their origin of coordinates is at the center of gravity. In other words, they are dody-fixed exes with the XZ plane being the sfrereft's plane of aymetry and with the X axis being coincident with the velocity vec- tor in the steady-state glide on whieh the flight path is @ perturbation, The positive directions along the axes are as follove: X 1s positive forverd; ¥ 1a positive to starboard; Z is positive tovarda the bottom of the atroreft. Tt should be noted that, vhereas Y ie alweye a prin- cipal inertis axis, X and Z are not necessarily sc, and products of inertia terus are introduced into the equations of motion in order to account for the alineuent of X with the steady-state relative wind rather than with @ principal inertial direction (body axes cline! in this particular vey are known ae stability axes). The earth axes are designated by Xo¥olo. They are fixed with respect to the earth, but, since the earth's rotation is negligibly slow coupared to the angular velocity of the aircraft, they ere considered to be Galilean axes fixed in space. As with the stability axes, their ori- entation is determined by the position of the aircraft in its steedy- etate glide, which 1s eubject to the restriction that in the stecdy-state glide the plene of symmetry 4s @ vertical plene. Bach menber of the XoYolo axes is taken to be pareliel to and to point in the same direc- tion as ite corresponding menber of the XYZ axes, In other words, Xo points in the direction of the steady-state glide path, Yo is horizontal ‘and points to the right (of en observer facing forvard}, end Z% pointe down (but not necessarily vertically down), Two locations ere desigated for the origin of coordinates of the earth exes, depending on the con- Ponent of the motion being considered. For angular measurements, theNACA TN 3350 15 origin of coordinates is taken to be the center of gravity of the air- craft at sone particular point along its flight path, For linear messure- nents, the origin of coordinates is located as required by the over-all schene of measurement which would be set up to analyze the flight of the aircraft. The ortentstion of the aireraft in space 4s defined ty three angular coordinates %, 6, and ¥ which give the alineueat of the stability axes, XYZ, with respect’ to the carth axes, Xoo (see fg. 1a)). If these angles ere all cero, the stability axes point in the directions of the earth axes. Any other orientation of the eireraft ie reached by three consecutive rotations, starting with XYZ pointing in the directions of XoYo%o. In defining each of the rotations, the point of view is taken that “kvz ere either in their starting position or in the position given by the preceding rotetion, and not necessarily in their Zina] position, The rotetions ere noncommitetive and must be taken in the order specified. ¥ Rotation 1. Start with XYZ pointing in the directions of XoYglos Totate about Z through @ Rotation 2. Rotate about Y through 0, thereby bringing X to its final position. @ ‘Rotation 3, Rotate about X through 9, thereby bringing Yand Z to finel positions end the eireratt to ite actuel orientetion in space. The angles ¥, 9, and @ may also be defined as the angles between coordinate axes and the intersections of certain planes, For the purpose of these definitions it is considered that the origin of coordinates of the XoYo%q axes is momentarily coincident with that of the XYZ exes, The point of view taken here is that the XYZ exes ere in their final positions given by the orientation of the aircraft in apece at the monent in question. The sign of the angle is specified by giving the axis about which the rotation ie taken in going from the line named first to the line nemed second in the definition. The axis of rotation is listed in Perentheses in each definition. ¥ angle between Xo and intersection of XoYo end XZ planes (rotation about 25) © angle between intersection of XoYo and XZp plenes and X (rotation about ¥,'= 5 rotefed about “Z, through ¥) angle between intersection of YZ and XoYo planes and Y; also angle between intersection of YZ and-X% planes and Z (rotation about x) 216 NACA IN 3350 Tue inclinstion of the earth axes (Xo¥o%) to the horizontal 1s given by the angle 7 (see fig. 1(b)). The angle 79 15 positive vhen Xo points above the horizontal (as show in fig. 1(b)). It showla be noted that Y, is horizontal by definition end hence the XZ) plane is ® vertical plane and contains the gravity vector B. ‘The orientation of the velocity vector ¥ with respect to the ste- bility axes XYZ is given by the angle of ettack a and the angle of eidesiip 6 (see fig. 1(c)). These angles are defined 90 that the product of the velocity magnitude V and the sine of cra gives the component of V along ¥ or 2; that 4s, by definition p= 90° - $Y aw = 909 - ¥ V2 and resolving 7 elong the trensverse stebility exes YZ results in the desired relations, as follows Vy = V cos $ FY = V oin B Vg = Vcos $72 =V sina The above definitions of a and # were chogen because it 18 believed that the trenaverse componente of the velocity are the quantities heving the most physical significance ineofsr as the aerodynamics of the air- craft 4e concerned, However, it should be noted that these definitions aigfer souevhat from counon iind-tunnel practice, Ina wind tunnel the model is normally placed at en angle of sideslip by supporting it on @ bent oting. The angle of attack ie eet at zero, and the sting ts alined to lie in the plane containing the axis of rotetion of the angle-of-attack sector and the tunnel axis (4¢ is assumed thet the wind vector ie along the tunnel axta). ‘Tue model ie then placed on the eting with its plane of symetry perpendicular to this plane. The angle of attack 19 now varied by rotating the angle-of-attack sector. Consequently, the Z exis of the uodel rotates in a plane perpendicular to this sector's axte of rotetion. The angles of attack, a, and oideslip, B, are defined as follows: a is ‘the engle through which the angle-of-att&ck sector te rotated; 8 ie the angle at which the sting is bent. Now, referring to figure 1(c), 1% 18 clear that a defined in thie report ie the same as a defined’ in wind- tunnel practice, since the ZV plane shown in thie figure ie the plane in which 2 rotetes end a 1e measured in thi plane in both cases. On ‘the other hand, 8 in thia report 1e measured in the WW plene whereas 8 in the wind tunnel is measured in the XY plane, a8 ehom. The dif- Serence 1a second-order for small values of and hence is insignificent in 0 far eo Linearized theory 1s concerned, However, should the theory be extended to the case of aireraft maneuvering at large angles, as 1a done in reference 6, the precise definitions of a end become important.a NACA TN 3350 a Tt will be convenient to write down expressions for the direction cosines between various axes of the earth exes and stability axes systems. ‘The direction cosines are readily obtained from the equations derived in section (5.0), "Kinematics," o: rence 6 and ere listed in the table below; each ents gives the direction cosine between the axis hesding the row is heading the column belonging to the space in which the entry x ¥ Zz x, co2 9 coa ¥ cos ¥sin psin 6 - | cos ¥ coe @ sin 6 + sin ¥cos 9 ein ¥sin o cos 8 sin ¥ sin ¥sin 9sin@+ | sin ¥cos posing - cos ¥ cos @ cos ¥ sin @ Zo, - sin @ sin g cos @ cos @ cos @ Now, the conditions postulated for the flight, which ere discussed in the xt section, require that corresponding axes of the two coordinate systems close to one another during the flight covered by the enalysie and hence that the angles 9, 8, and ¥ be small, Only first-order teras are retained in the develorment of the equations of motion and, eince 9, @, and Y are first-order, quadratic terma in the expressions for the direc- ‘ion cosines will be second-order and may be neglected. The equations giving the direction cosines correct to first order are sumerized in the table below; again each entry in the table gives the direction cosine between the axis heading the row end the exis heading the colum belonging to the space in which the entry ie listed. Y Xo 1 ¥ ° (uy 7 ¥ Zo 6 9 Lu18 WACA TN 3350 Condstions of Flight The following conditions are postulated for the aircraft and for ite notion in flight: (2) The eivereft bes a plane of mirror symmetry, the XZ plene. (2) Te magnitude of the velocity of the etroreft may be large but the change in the velocity must be snall. Accordingly, the velocity may be represented by = constant plus © smell perturbation; that is, VeVotu. (3) The angles orienting the two sete of coordinate exes, % 8, and ¥, and locating the velocity vector, @ end a, sre all small. (4s) ALL componente of the angular velocity, p, q, and r, are small. (5) The flight path of the aiverezt 1a 2 perturbation on a atesdy- state glide. Conditions (2), (3), and (4) may be summarized by eaying that the following variables must be omall (e.g., have a numerical magnitude of 0,2 or lesa) end hence are first-order quantities: 98 @ea % sneli, for example, 0.1 or less Bight 2 BYo BV 2Vo where 1 4 characteristic length. , It should be noted that if B, a, Gh, ond ZL are tirst-order, then #4 ana 22 also be firet~ aie 4 aS feet tery then gy ont fe win etso be eirat order, where B= Bang a= 3. The theory developed in this peper includes only first-order tems. Products of first-order terms (except Zor the Magnus terns of spinning projectiles and symmetrical missiles), for example, 99, are considered to be negligibly euall and are left out of the equations of motion, AB a result, the equstions of motion becone Linear in form and their solution nay be given by vell-lmowm, explicit functions. Experience has shown that the solution of the Linearized equetions of motion 1s, in fact, a reasoueble representation of the flight motion of many airereft, Héwever, there my be circumstances under whieh the linearized equations do not describe the aircraft's fligat, despite the fact that all the quantities Listed in equation (2) are onsil, The eerodynamie cheracteriatics ofNACA TN 3350 19 certain atrereft are such that some of the quadratic terms ere as large or larger than certain of the first-order terms included in the linear theory. For aircraft of this type, the significant quadratic terms must ve retained in the equations of motion and the theory revised accordingly, Consequently, the analysis of an actual flight should include a check of the mageitude of second-order terms to be sure that they ere in fact second-order, that is, negligible. In other words, the © pricri essump- tions of the theory should be checked a posteriori by en analysis of tue measurenents. Kinematic Relations The equations of motion are derived from the basic vector equations @) aig 8 (4) Tue first step in thefr dexivation is to obtain relations between the physical quantities, Mandi, and the kinematic variables (of the. motion), B, a, 9, 8, and ¥. The components of the linear momentum, M long the "XYE “axed in terms of the conponents of the velocity vector, Gana the components of Vin terus of pando are listed in the Toilowing table. M v a | wy Wy = WA ~ ota ~ sine (3) 3 ny. vy = V sin B x | nv vg-Voeine where the component along X, Y, or Z is designated by 1, J, or k, the unit vector along X,¥,Z, respectively. Similerly, the components of the angular momentum, H, are given in ‘terms of the componenta of the angular velocity, @, and, in turn, the components of @ in terms of 9, 8, and ¥ are given in the table below (see ref. 6).20 NACA TN 3350 E + Typ - Sy p=$-}sine 3 Tya a= 8 cos p+ $ sin 9 cos 6 (6 x | tre dep | r= ¥ cos 8 cos o~ 8 sing For convenience in computing the reletive magnitudes of terns in the equations of motion, the components of U(p, q, and r) may be written a5 follows, expanding sines and cosines and retaining only first- end second-order terms. p=6-o asé+or (7) r=¥-o9 The expressions for Vand U given in equations (5) end (7) include second-order terus in order to clarify certein steps teken in linesrizing the equations of motion, The components of Vand U appearing in the inertial terme in the equations of motion are multiplied by large muneri= cel factora, Consequently, it 1s desirable to compare the second-order inertial terms vith the firet-order eerodyneuie terus in order to ested- lish that the second-order inertial terns ere truly negligible. The con- parigon 1a made in Appendix A, which covers the linearization procedure, Physical quantities are defined with respect to the body-fixed axes, XYZ, e2 19 cuetonary in the treatment of the motion of @ rigid body. On ‘the other hend, the rates of chenge involved in the basic vector equa- tions (3) and (4) are taken with respect to space-fixed axes. Hence, equations (3) ena (14) must be transforned in order to account for the movenent of the XYZ axes, Tae well-imomm transformation for the rate of change of any vector A from fixed to moving exes is given by Ble beak | (8) where Z is the rate of change of KE measured with respect to XYZ txee, the conponente of the transforastion are Se = fig + abe = my FE = hy + ohy + oa ©) one aba ig + ply - hy ay 7 Azt My - oxNAGA TN 3350 aL Aerodynamic and Gravitational Force Systens The resultant external force, F, of equetion (3) te the sun of the aerodynamic forsee and the gravitational force; that 4a, Fes iy (20) ‘The resultant external moment, M, of equation (lt) is due solely to sero- dynemic reactions. Concerning the aerodynamic forces and moments, it 1s assumed that the componente of the resultant force and moment, F, and MN, are given by Fagy,n 7 92 BPS Qa) ana a (22) It is further assumed thet the coefficients, the C!s, in equations (12) and (12) are functions of the variables B,'c, , @, P, a, and r end that these functions may be expended aoe series in the variables named. The generel formula for any coefficient, Cg, vere @ stands for X,Y, 2, ty a, or a, is fx Ca = Cay eae Coy HF + (higher-order terms) 3) The coefficients of this series ere assumed to be indepenient of the veriables §, a, 3, é, p, 9, andr and to be functions only of the exter- hel shape of the aircfart and of fundanental serodynamic parameters, such 9 the Reynolds and Mach numbers, They vill be known herein as the lerodynamie coefficients” end correspond to the conventional stability derivatives. Examples of the higher-order terms are Cag," and Ca gi8, two of the quadratic tera of the series, In the alreratt ease all of the variables By % By a, end r are ouall (first-order), Hence, their products will be second-crder and the quadratic and higher-order terms of the eeries may be neglected. If the afrereft bad no plane of symmetry, all 8 coefficients would be required to account for the complete force and moment system. However, the majority of aircraft have one plane of mirror symmetry as postuleted22 NACA IN 3350 here and, aaa result, certain of the coefficients muat be zero. The requireuent imposed by the existence of e plane of mirror symmetry can be stated succinctly as follows. ¢ Let the eirereft execute two motions, the firet being the mirror a image of the second sbout the XZ plane, the plane of aymmetry; the aero- dynsmic force due to the firat motion mst be the mirror image of thet due to the second. ‘The mirror imege of = motion (or foree) is defined as the motion (or the force) that will look the same to a second observer stationed on the opposite side of the atvcreft fron the first; thet is, one observer being to port, the other to sterboara. To illustrate, consider the terms C;,(p1/2v), the roiling moment due to rolling velocity, and Cm,(pl/2¥), the pitching moment due to rolling _ velocity. the mirror inege of the rolling velocity p is alvays -p. ‘The mirror image of the rolling mouent My ie -Myj hence, the mirror itage of Oyp(p2/2V) should be -Cyp(p2/2¥). Tt om be seen that this term reverses sigh as it should, since p mirrors to ~p, and the coefficient Cyp 18 therefore an ellovable one. On the other hand, the mirror image . ofthe pitching monet My 1s ly; hence, the mirror imege of Gup(p1/2¥) should be #0mp(Pt/2V) - Tt can be seen that the term reverses sign es it : det ondlomtie as Tomguety te cotfciet Gg cattle that ie, Onp = 0. Applying the criterion of symmetry to equation (13), one can eee that the following coefficients mst vanish: (a4) Substituting equations (14) in equation (13) end arbitrarily assigning . @ minus sign to the coefficients of Cy and Cz in conformity with otandardNACA TN 3350 23 practice (since the axisl drag force usually acts in the -K direction and the normal foree in the =Z Gireetion), give the force and monent coefficients for the aircraft as follows: = -0y,- Cy a- Cy, SE ge Ox = Cx, = Cyt = One > OK BF = -02, -Cz,0-0y, S-cy at Sz * 029 ~Cz,8~ Cos SY Czg St a (a5) 2 24g, Ft Cy = Orgh + Cry Se+Cry Bee Ca, BE Pu Cy = Sig + Cay + Ong SE + Cag " z a EL Gn = GagP + Ong SF Coy BE Cae Be Concerning the force of gravity, Fg, ite components slong the XYZ axes are readily computed by first resolving Fg slong the XoY¥o%q axes end then computing the XYZ components using the direction cosines givea tm equations (1). The force of gravity Fg lies in the XZ, plane since Yo is horizontel by definition end, hence, is given oy Fg = To(-mg sin 75) + Eq(me coe 75) (16) The 412 components of Fy aze now obtained by resolving the Xo% components of equation (16) along the XYZ axes using equations (1): Fo, © 2g (~ ain 79 ~ 8 608 70) Foy = me (¥ sin 79 + 9 coB 79) a7) ng (+ @ ain 79 + 008 7) Derivation of the Differential Equations of Motion ‘The differential equations of motion are derived from the basic vec- tor equations (3) and (lh) by resolving the vectore slong coordinates axes and using the kinematic relations and the equations for the external forces and moments, thereby obtedining six scalar equstions, three asso- ciated with the force and three with the mozent. Hoth earth axes andah NACA TN 3350 stability axes are employed as coordinate axes in resolving the basic vector equations. Earth exes are used to compute the motion of the center of gravity of the aircraft, since linear displacements are measured along these axes, Stability axes are used to compute the anguler motions of the aircraft and of the velocity vector, since the inertial properties and aerodynamic coefficients of the aircraft are invariant with respect to ‘these axes, The detailed steps taken in deriving the equations of motion are outlined as follows, Both equations (3) and (it) are traneformed from fixed to moving axes by equation (9), except for the X component of equation (3), as dia~ cussed belov. Equation (17) for the gravity force and equations (11) and (25) for the aerodynamic forces are substituted into equation (10) for the external force, The Kinenetic reletions for linear nonentun and velocity are given by equations (5) and these are used to complete the development of equation (3), Equetiona (12) and (15) for the aerodynenie nonente and equations (6) and (7) giving the kinenatie relations for the angular momen- tum and angular velocity are substituted into equation (4) to complete ite developuent. ‘The detaile of this particular step are given in Appendix A. It should be noted thet the equation associated with the axial drag force 18 treated as a special case. This equation is derived by resolving the vector Linear mouentum equation (3) along the space-fixed X, axle rather than the X axis, thereby avoiding the term (giz, - ray) which cones from the treneformation. from fixed to moving axes (eq. 9). The change in approach is desirable because in the linearization of the equation of motion the term (qAz - ray) gives rise to second-order terms whose magni- ‘tude compared to firat-order terms ie wicertein and whose neglect conse- quently may be questionable. ‘In so far as the validity of the derivation is coacerned, either axis system, stability exes or earth axes, my be used in deriving any of the equations of motion provided the vector quan- tities are resolved correctly slong the axes in question and the angular velocity of the coordinate exes (if any) is accounted for. The next atep in the derivetion 4e to eeparate each of the eix eque- tions into first- and second-order terne (end higher-order terms) and to neglect the second-order (and higher-order) terms, This step is described in detail. in Appendix A. Hence, at thie poimt, the equations of notion are linearized and the theory 18 restricted to e consideration of firet- order effects. Tue third step in the derivation is to introduce a nondimensional time as the independent variable and a concise notation for the factors of the dependent variables, This nondimensional time, t*, is sometimes referred to as the reduced time and is based on the eircraft time factor, t. The concise notation etens directly from the subscripts of the sero~ aynenic coefficients and at the same time includes any other miltiplica~ tive factors, For example,WACA TH 3350 25 In the sane spirit, the derivative notation ie shortened by defining aa ma = SA at This step perellels a similar procedure followed in reference 7, The advantages accrued thereby speak for thenselves. ‘The final step goes back to (5) of the condition postulated for the flight, namely, that the flight path ie @ perturbation on a steady-state glide. Hence, the equilibrium condition of flight with all the dependent variables (u,8,0,8,6,p,a,r) equal to sero is one in watch the lift, dreg, speed, glide engle, and weight are all in balance. It is assumed here thet the Xp axis end the X axie are both coincident with the trajec tory along the oteady-stete glide path, Tae equations of notion for the steady-state glide are _ mg sin 79 _ * sv Zo = MEER 0 ag 18) 2a revon € (28) tg = 0 Equations (18) are used to replece the gravity terms with corresponding serodynsmic terms in the final differential equations of motion. At the same time, the factors xo,%q,Zo,%q, are replaced by the factors xop,%yp)fols2q,, which refer to the drag and lift of the aircraft as mecsured ine wind Gunnel. Wow, it ie customary in deriving the equa tions of motion to use drag end lift coefficients rather than the X and 2 coefficients. This is a perfectly reasonable choice since the stetic stability characteristics of many eircraft are measured in wind-tunnel ‘vests. Wind-tunnel data are ordinarily presented as lift and dreg polars and it is desirable to formulate the theory in terus of lift and Grag so thet these data can be used directly. A support system commonly employed in wind tunnels has already been described. In so far as the coordinate axes of this report are concerned, lift and drag are measured elong and’ perpendicular to the steady-state relative wind, that 1s, elong the -Zo and -Ko axes, respectively. The serodynamic lift and drag factors corresponding to the lift and dreg coefficients are designated by the subscripts Leni D, and the relations between these and the aerodynamic factors corresponding to the X and Z coefficients are given by26 . NACA TN 3350 %o = %op %a = Xp - Zon (as) 20 = Fo, Fa = So + oD ‘The six differential equations of notion which result from the pre- ceding steps are given below in the following order: the three force equations, exiel drag, side force, and normal lift force, and the three moment equations, roll, pitch, end yaw. 9) + 2k Eo mame + (ay = sends + xgPe + aon? 0 (20) (2 ~ yg) DB - ¥gB + (1 - vy) DV + xap¥- ¥,DO- 249-0 (21) (2 + 2g) Det (2gy, + Xople = (1 = 2g) DO - xoye + ern (@)= © (22) DPQ - 1,09 ~ KDPy - 1,Dy - UDB - 158 = 0 (23) To ~ mde - mda ~ myx = 0 (2k) DAY = mv - DRO - (25) De - mgb8 ~ mp8 Discussion of the Differentiel Bquetions of Motion An inspection of equations (20) through (25) shows thet the six eque- tions may be divided into tvo distinet groups of three equations each. One group consisting of equetions (20), (22), and (2h) involves only the variables w/o, a, and 9 end describes the longitudinal motion of the aircraft, The other group consisting of equations (21), (23), ana (25) involves only the variables 2, 9, and ¥ end describes the iateral motion of the eireraft. Hence, it may be concluded that the linearized equationa Of motion of aircraft may be divided into tvo separate parte and that the Parte do not interact, This result 18, of course, wel) known end the over-all stability of aircraft is customarily subdivided into long!tudinalNACA TH 3350 eT stability involving w/o, e, and @ and into lateral stebility tnvolving 8, 9 and ¥. In thie connection, it should be noted that different rep resentative lengths, 2, may be used in the two groupe of equations since the groupe are independent of one another, In practice, it 1s comin to use the meen scrodynanie chord of the wing (?'~c) in the longitudinal stebility equations and the wing span (1 ) in the leteral stability equations. Equations (20) through (25) agree satiefactorily with corresponding equstions presented in standard seronsuticel texts (see, e.g., eas. (10-898, b, ¢) and (11-3ha, b, c) of ref. 5). The equatione here do contain certain extra terns not orditerity found Gleewhere Dut 1t 1e believed that all of ‘the terms in these equations ere required for a complete and consistent first-order eerodynamic force eysten and to account accurately for gravity forces. On the other hend, the additions are ao euall for representative eircraft that they do not effect the comparigon in eo far ee practical application of the equations 1s concerned. To ounerize briefly, 1t may be stated thet equations (20) through (25) ere the standard equetions underlying the longitudinel and lateral stability of aircraft, Hence, 1t has been deuonatrated that the approach used in the present development leads to the comonly accepted result, The solution and application of the differential stability equations have been treated at length and reference is made to the extensive aeronautical Literature for @ discussion of thia aspect of the aubject (e.g., see refs. 1, 5, 6, 7; 8 and 9). EQUATIONS OF MOTTON FOR PROJECTILES AND MISSILES WITH 90° ROTATIONAL AND MIRROR SYMMETRY In this paper the equations of motion describing the flights of spin- ning projectiles and symmetrical missiles ere treated simultaneously, and ‘the results may be spplied to elther case. Both projectiles and miseiles are mentioned in the title because the means of stabilization customarily employed in the two cases depends on different physical principles, the majority of artillery shell being spin stebilized and missiles being fin stabilized. Despite this difference, the motions of both stem from 6 common set of equations and each represents an application of the general equations to particuler condition of flight. The terms, projectiles and missiles, will be used interchangeably for the sake of succinctness, ‘tut, although only one may be named, the other will alweys be implied. Projectiles and missiles are considered to differ from aircraft in ‘two respects: (1) They are postulated to have 90° roll symmetry or ite equivalent in addition to a plane of mirror symmetry.28 NACA TN 3350 (2) The component of their anguler velocity along the exis of sym metry is allowed to be large; that ie, they may roll continuously (or spin) eround the exis of symetry. It de inmedistely evident thet the freedom of the missile to spin will lead to difficulties if axes fixed in the missile are specified in thie case as they were for aircraft, The engle of roll, 9, will become Jerge and the componente of the gravity force will vary with the sine and cosine of 9, Both of these consequences will violete the requirenent ‘that the dependent variables remsin enall during the flight, an essential feature of a linearized theory, It is clear that the geonetry postulated in the aircraft case must be modified before it is suitable for the devel~ opment of linearized equetions of motion for projectiles and missiles. Tae 90° rotetional symetry, the edition to the requirement of mir- ror symetry, provides the key to the problem, It will be show thet the aerodynauic force eysten is uodified for this case co that the resultant force and moment vectors are independent of the roll orientation (to firet order). Consequently, only one coordinate axis need be fixed in the niseile, that 1s, elong the axis of rotational syumetry, the longitudinal axis of the missile. One of the transverse coordinate axes will be pre~ seribed to lic in e certain apace-fixed plane oriented so that the angle of roll of the coorainete axis syaten te elvaye zero. As @ result, the change in orientation of the cooréinste axes rensine euall during flight, and the varietion of all of the dependent variebles except the roli angle of the missile is correspondingly small so that the besic requirement of @ first-order theory can agsin be satisfied. Consequences of 90° Rotational Symmetry Iiinety-degree rotational symetry may be readily visualized by pic turing the missile (or projectile) in two positions, one rotated by 90° about the axis of aymetry with reepect to the other. If the missile hee 90° rotational symetry, the two pictures will look precisely the seme. In watheuatical terms, rotation through 90° transforms the missile into itsel?, Tt is assumed in this paper that the axis of rotational symmetry coincides with the longitudinal exie of the missile. Firat, the consequences of rotational symmetry to the aerodynamic force oystn will be invessigeted, Let the XY axes remain exes fixed in the missile, but place the X ‘axis along the axle of rotational syn- metry. ‘The X’ exis 10 now a principal axie of inertia 80 that yy, vanishes, furthermore Ty = Ig, It is clear that the aerodynemic coeff- cients must have values such that a rotation of the V, Vp, and @ vec- tora by 90° about X will produce a similar rotation of the F and W vectors of 90° about xX, since Fand M ere fnctions of ¥, Vp, and DNACA TN 3350 2g and the aerodynamic configuration will be precively the aang after the 90° rotation, as reguired by symmetry, The componente of, Vp are given to first orden by Vp = 634 4K. Tt will be noted thet %) transforma es V does. Only V will be written down explicitly in the subsequent enejysis but Yp will be included implicitly in all derivations in wich ¥, Vp, end are involved. Now, if K is any vector and A, is A rotated 90° around the axis of eymeiry, and if the direction of rotation 1a teken to be from Y to 2, the components of Z are releted to the components of By as follows: Aya = Ax p oe (26) Applying equation (26) to the eerodynamic force and moment vec tore gives the relations between the components of the force and monent before and after rotation of ¥, ¥p, and G, which are Sketch (a) Pye (Wes By) = FX CY 3) Pye (Tay 3) = -Fz (¥, 3) Fag (Vas Bq) = Fy (Vs 5) My (V, 5) Mew (Tas = My, (7, Mga (Fas By) = My (VB) It should be noted thst the velues of the components after rotation mst be coupated using the rotated values of velocity and angular velocity, Fi, and G,, aa indicated by the functional notstion of equations (27), Myw (Va, &,30 NACA TN 3350 Bquattons (27) must hold for ell values of Vand @. Fence, com puting the components of Vg and Oy from equations (27) and substituting the values of the components of Vand from equations (5), (6), and (1) (neglecting second-order terus) end of Fy and M from equations (12), (12), and (15), the following equalities must hold between the eerody- nanie coefficients: C¥p = Cr (28) Cay = Sag Ox, = Oxy = Sky = Cy = zy 1 = mp = 0 Consequently, the equetions for the components of F and H become ox = ~ox, By rl cy = cg 8 - cy, BF EL = -O7,P - Sp, By + Ox, Be = 07.0 - Oz, Sk- oc, at a= ~1% = Sas By ~ Clq BV (29) Oy = #07 BE a a Ca = Cage + Cay $4 Coq : h sj Oy = -Cag® - Ong By + Cag BE .NACA TN 3350 3n Second, since the sero- dymante coefficients for rota~ tionslly symetric bodies heve y been established, the varia~ tion of the aerodynamic coe?- 4 fetents with rotation of the YZ axes around X will be investigated, Let the YZ re exes be turned through an arbitrary angle A to a new position YZ+, aa shom in the sketch. Relations between the ee components of a vector A elong YZ end elong Zt ere given by Sketch (b) Ay = Ayt cos A - Agt ein A (3ea) Az = Agh cos A+ Ayt cin A Ayt = Ay cos A+ Ay sin A (300) Agh = Ay cos A - Ay sin A Since the rotation is about X, the X component of H is unchanged. Now, vector quantities themselves do not chenge with rotation o: coordinate axes; only their components along the exes vary. Hence, F, and H are not affected by rotation of Y end 2; that is, R= Fe ek (le) He Resolving equation (31a) into components and using equatione (11) and (12) which define the aerodynamic coefficients give Oxt + Oy + CGE = OT + oytTt + CyB (Ge) oytT + Cyt Tt + opt BE O,T + Gad + CGE2 NACA TN 3350 1 J+ end KH are resolved along ¥ and Z (eq. (30b)) and the components o are equated (eqs. (31b)}, the following equations ere obteined for the C's in terms of the cs and A, ‘ Ox = Oxt Cy = Cyt cos A~ Cgt sin A Oz = Cyt cos A+ ct ein A oy = cyt (2) Cy = Cyt cos A= Cyt ain A On = Opt cos A+ Cyt sin A The components of the aerodynamic force end moment along Yt and Zt are given by equations simtlar to equations (29) with ell coefficients and #11 variables marked with the superscript +. Using this set of equations eimiiar to equationa (29) for the Hs end substituting into this set the values of pt, at, 3+, d+, at, and rt given in terms of 8, a, B, & a, r, and A by equations (30b), one obtains the following 7 relations between the aerodynamic coefficients associated with the XYZ exes and with the xYtzt axes from equations (32) “Oxy = -Cx,* pe rl “Cag - Ong, BH + cq Be Cp a - a Cae a (33) aT = Ong’ + Cng* H+ Cugt gt se a Cag + Ong, $+ Ong a 2 + By +r) “Ome - Oma, By + Omg Sy = ~CmaB- Ong* EE + Gng® Since equations (33) must hold for all values of B, a, A, dy P, a, end r, it 1s immediately evident that the eerodynamic coefficients asso- ciated vith the xY'zt exes, the C'te, must be equal to the serodynamica NAGA TN 3350 33 coefficients associated with the XYZ exes, the Cts, Tt may be con~ cluded, therefore, thet the serodynamic coefficients ere inverient with respect to rotation of coordinate exes about the axis of aymmetry, Con- sequently, the Yand Z axes may be oriented at will around the X axis without regard to the orientation of the missile about X, since the sero- dynaaie coefficients ere solely functions of the missilets external shepe (2nd such nondimenstonal parameters as Reynolds and Mech numbers) and it hes been shown that the eerodynemic coefficients do not change with orien- tation of the miesile in roll. In fact, the missile may be allowed to spin about the X axis with respect to the YZ axes end the aerodynamic coefficients will be unaffected. Another consequence of the preceding enelysis, which is immediately evident, is thet the serodynamie force and moment, F, and H, ere aleo invariant with respect to the orientation of the bedy in roll. Tae values of Fy and M change, of course, with spin through the rolling moment, Cty Bip ant through the Magms forces end sonente, which vili be aisoueeed A more adequate treatment of the consequences of rotational symetry then hes been presented here hes been carried out tn references 10, 11, 12, and 13. The general cave of rotationél symetry about any submultiple of 360° is atudied in these references in a most elegant and rigorous manner end it 1 shown that the full set of ecrodymanic coefficients 1s redueed to the set given by equetions (28) and (29) for rotational eymnetry about ell submultiples of 360° lese than 180°, that is for an engle of 360°/n with n= 3, 4,5... (any integer greater then 2). Minety- degree rotational symetry, or cructform symmetry ac it 1e comonly called, is only @ special case and was chosen primarily to eld in visualizing the physical aspects of the analysis, Hence the phrese "or ite equivalent" neans rotational syametry about any submiltiple of 360° less then 180°, The 180° case lies in between the aircraft and missile cases but will not be treated in thie paper (for an anelysie of the 180° case, see refer- ence 14), Geonetry, Conditions of Flight, and Kinematic Relations Te geometry is shown in figure 2, Three sets of Cartesian coordinate axes are used in developing the equations of motion, Instead of two sete as formerly in the aircraft case, One set is fixed with respect to the earth and ie known as before as "earth axes." The second set is fixed que author ie indebted to Mr. C. H. Murphy of the Ballistic Reaearch Laboratories for pointing out to him the roll inveriance of the aerody- namic coefficients of a roll eynmetric projectile or missile.3 NACA IN 3350 partly in the missile and pertly in space and is known as “peeudo- stability exes." The third set 4s fully fixed in the migsile and 4s Imow as “body axes." The relative orientation of the three sets of axes ia ’ shown in figure 2. Other features of the geometry such as the locations of the gravity and velocity vectors and the designations of quantities in the figures are the same as in the aircraft case and reference is made to the previous section "Geometry" and to figures 1(b) and 1(e). The earth exes are designated as before by XoYolo. ‘They are fixed with respect to the earth, but, since the earth's rotation ie negligibly slow compared to the anguler velocity of the missile, they are considered to be Galilean axes fixed in space, Their orientation in space is deter- ined by two factors: First, the Ko exie is alined parallel to the x axis in the neutral positton of the missile; that is, the position for which the angles a, 8, ¥, 8, and. are taken to be zero. In other words, the Xo axis ig lécated by the initial conditions of the flight. Second, the Yo exis ie horizontal and points to the right (of en dbserver facing forvard) and Z points down (but not necessartly verti- cally down). As formerly, two locations are designated for the origin of coordinates of the earth axes, depending on the component of the motion being considered. For anguler méasurenents, the origin of coordinates 1s vaken to be the center of gravity of the aiferaft at some perticular point along its flight peth. For Linéar mencurenents, the origin of coordinates 48 located as, required by the over-all scheme of measurement which vould de set up to anslyze the flight of the misotie, 7 ‘The pseudo-stebility axes are designated by XYZ. This set of axes exploite the freedom brought by the symmetry of the missile to orient the axes st will about the axis of rotational eymetry. ‘The X axle lies along the axis of rotational symetry. The Y axis lies in the space- fixed XoY plene. Their origin of coordinates ie et the center of gravity. In other vords, the X axis is fixed in the misoile and moves wits it while the Y axle slides about in the Xo¥, plane, The positive Aivections along the exes are as follows: X te positive forward; Z 10 positive dovay Y is positive in accordance with the right-nend ecrew rule. Should the X axis happen to be vertical in the neutral position of the missile, the orientations of the Yand Z axes (and the Yo end Zo axes) become arbitrery end would be determined by the conditions of the pertiesler flight under consideration. it should be noted thet these faxes do not roll, since Y reusins in the X,Y» plane, and consequentiy the © end the derivatives of 9 (ag/at, a @/M®, ete.) of the KZ exes ere zero and revain gero during the flight, it should also be noted that all three axes, X,Y, and 2, are principal inertie axes, e8 8 con- sequence of the rotational eymetry of the mesile. The body exes are designates by T, 3, 3. They are firmly fixed in the mlostle throughout the flight and are oriented so that 1 11es along the axis of rotational symmetry and Zand 3 ere coincident with ¥ end ZNACA TN 3350 35 at thet point on the flight path which determines the initial conditions of the flight (I, of course, is coincident with X at all times), Their origin of coordinates 1s at the center of gravity. The orientation of the miss{le in epece ts defined by three anguler coordinates, tvo of which, ¥and 0, give the elinenent of the pseudo stability axes XYZ with respect to the earta axes Xo¥oZo3 end one of which, 9, gives the alinenent of the body axes 1 2 3 with respect to the pecudd-stebility axes XYZ (see fig. 2). If these angles are all zero, doth the peeudo-stability exea end the body exes point in the direction of the earth axes. Any other orientation of the missile is reached by two consecutive rotations of the XYZ axes, starting vith XYZ coinci- dent with Xo¥oZo, end one rotation of the 1 2 3 axes, starting with T2 J coincident with XYZ. In defining the rotations, the point of view ie taken that the axes in question start in the position specified and proceed in ordered sequence to their finel position, In perticular, the tvo rotstions of the XYZ axes are noncommitative end mst be teken in the order listed. ¥ first rotation of XYZ. Start with XYZ pointing in the directions of XoYoZo, Rotate about Z, through ¥ bringing Y to ite final position, @ second rotation of XYZ, Rotate about Y through 6, bringing Xand Z to their fine] positions. 9 rotation of 12 3, start with I 23 coincident with xyz. Rotate about X through 9. The angles, ¥, 9, 9, may also be defined as the angles between coor- inate axes and the intersections of certain planes. For the purpose of these definitions it is considered that the origin of coordinates of the XpYolo axes is momentarily coincident with thet of the XYZ exes. The point of view taken here is that the XYZ and 123 axes are in their final positions given by the orientation of the missile in apace at the mouent in question. The sign of the angle is epecified by giving the axis about which the rotation is taken in going from the line named firet to the line neuea second in the definition, The axis of rotation is listed in parentheses in each definition. ¥ angle between Xo end intersection of Xo¥) and XZ planes; aiso angle between Yo and Y (rotation abut Zo) 9 —engle between intersection of oY, end XZ) plenes and Xs also engle between Zy and % (rotation about ¥) @ angle between Y and 3; also angle between Z and 3 (rotation about Xx)36 NACA TN 3350 Tt should be noted that the roll angle 9 in the epinning-projectile and symmetricel-missile ceses measures the rotation of the body axes 1 2 3 and not the rotation of the pseudo-stability exes XYZ. As pointed out previously the XYZ axes do not roll. ‘It may be of interest to note that the angles, ¥, 9, 9, are the Bulerien angles ao defined in the clessical treatment of the notion of @ gyroscope (e.g., sce section 43, "Heavy Symmetrical Top or Gyroscope,” of ref. 15), The axis X corresponds to the “axis of spin" (axis of rotational symmetry) of the gyroscope, and the axis Y corresponde to the "line of nodes." The following conditions are postulated for the missile end for ite motion in flight: (1) The missile hes not oaly mirror aymetry, but also 90° rotex tional eymetry, or its equivalent, the axis of symmetry being the X exis. (2) The magnitude of the velocity of the miestle may be large but ‘the change in the velocity aust be euall. Accordingly, the velocity may be represented by a constant plus a enall perturbation; thet ie, VeVo+u. (See ea. (2)+) (3). The angles orienting the pseulo-stebility axes vith respect to the earth axia, ¥, 8, end locating the velocity vector, By a, are ell sual. (i) che Yand Z components, q and r, of the angular velocity of the missile ere emall. (5) ‘The X component, p, of the angular velocity of the missile may be large but the change in p must be small. Accordingly, p may be represented by @ constant plus a small perturbation; that is, P= Py + Pt (38) (6) The flight path of the missile is e perturbation on a linear trajectory. Conditions (2), (3), (i), and (5) may be cumerizes by saying thet the following verisblea must be small (e.g., hve = munerical magiitude of 0.1 or less) end hence ere first-order quantities: ey = 8 a omeil, for exemple, Yo O.l or lees (35) pL at zt Bo Bo BoNACA TN 3350 37 where 2 ie a characteristic lengtt, Again it should be noted thet if Bye, Qt/QVe, end ri/e¥ are firsteorder, then pt/2V, and &1/2V will dice be first-order. Aloo, 1¢ should be noted that Voy 9, Por and 7o mey ell be large. Again it should be emphesized that, although the linear theory gives an adequate description of the motion in flight of many projectiles and missiles, there nay be cases in which the second-order terms neglected in ‘the derivation of this theory are es large or larger than the first-order terms retained. Consequently, the anelysie of an actual flight should include @ check of the relative magnitudes of first- and second-order terms. The point here is that in both the aircreft and missile cases the a pricri aseumptions of the theory should be checked @ posteriori by an enelysie of the meesurenenta. Ag in the eircraft case, the equations of motion are derived from the basic vector equations a fae (3) ac Wen Cy) ‘The components of the linear momentum, M, and the velocity, V, along’ the XYZ axes are given as formerly by the tabular listing of equations (5). In deriving relations for the components of the angular monentum, , there ere three angular velocities involved: (2) DB angular velocity of the missile with reapect to the earth exes, XoYoZo (2) BH angular velocity of the XYZ axes with respect to the KoYolo axes (3) angular velocity of the missile with respect to the XYZ It con be chown thet B-eT+7 (36) Tae components of W are given by equations (7b) with 9 = 6 = 0, since the YZ axes do not roll. For convenience in computing the relative magnitudes of terms in the equations of motion, these components,38 NACA TN 3350 P,Q,r, may be written as follows, expanding sines and cosines and reteining only first- and second-order terms: y= ner a9 yee (37) av ay = Since the Tend X axea re coincident, the components of 7 are given by a = 2 ae (38) wz 20 Substituting equations (37) and (38) 4n equation (36), with Jyz = 0, gives the components of Hand W along XYZ in terms of 9, 6, and ¥ by (correct to second order) a (39) J fnal ass x }igx| re In equations (39) the treneverse componente of H, Hy end Hy, are written as Tyg and Ipr. Now, 1t can be shown that rotational aymnetry requires that “Ty = Iz.” Consequently, a single value may be assigned for the trensverse mment of inertia, This fact de used in deriving end solving the equations of motion for aymetrical masiles. In deriving equations for 8, a, 9, 9, and ¥ the rates of change of Mand H will be computedNACA TN 3350 39 with respect to the X12 axes and, hence, equstions (3) and (44) mst be Yranofermed in order to account for the movement of the XYZ axes. ‘The transformation for the rate of change of any vector B from fixed to moving axes is given in the miesile case by aR Oxk (hoa) wheve_H is the rate of change of K measured with respect to XYZ axes Qnd Wis the angular velocity of the X12 sxes with respect to fixed (eerth) axes. The components of the transformation ere given by SH why e oy - ray SE an hy + my (hob) Ag - Ax Aerodynamic snd Gravitational Force Systems Ae in the atreratt case, the reoultent external force F of equa- tion (lt) is the sum of the aerodynamic and gravitational forces, as given by equation (10), while che external moment M of equation (5) ie solely an aerodynenic monent, Concerning the eerodynamic forces and monents, it is easuced, as_ formerly, (2) thet the components of the resultant force and moment, Fy and ¥, are given by equations (11) and (12); (b) that the coefficients, the, ¢ts in equations (11) and (12), are functions of the variables B, a, By 4, p, a, andr; and (c) that these functions may be expanded in @ series in che veriable named, where the general formls for any coeffi- cient, Ca (a =X, ¥, 2, 2, mn), 4a given by equation (13). Again, the coefficients of the series, the Serodynamic coefficients, are assumed to be independent of the dependent variables nazed and to be functions only of she body!s external contour and of such fundementel eerodynamic para~ meters ag Reynolds and Mach numbers. Im the atreraft case, ali of the variables, B, a, By d) Ps as and ry are eocuned 20 be enall, and consequently, ell quadratic terms in the series expansion of the serodynanic coefficients (eq.(13)) are second-order and ney be neglected. However, in the missile case one of these variables, $, may be lorge and the quairatic terms of the seriea which involve p béy be firet-order and mst be included in the equations for the acro= dynamic forces and moments, equations (28) and (29). There are also40 WACA TN 3350 higher-order terms in p which are first-order in the other variables and therefore should be included fron a strictly logical standpoint. How- ever, the available experimental dete indicate that the forces and moments in question vary linearly with p to within the accuracy justified by @ first-order theory. Accordingly, only the quadratic terms involving p will be included. “The general forma for the quadratic terms of any coefficient Cg, which davolve p, is given as follows, where for X,Y, Z, 2, m, or nz 2 Ca = Caps BE + aay al pl pl pl gt pt Soap By av * “ep ay av + Cag By By * rh pl Carp By OF stands (a) The quadratic terms involving p sre mown in the ballistic nomenclature as the Magaue forces and momenta. ‘The conditions of symmetry require that meny of the Magnus coeffi- cients vanish. Furthermore, rotational symmetry establishes relations between coefficients associated with motions in the pitch plane (XZ) and ‘The Magnus terms remaining are listed below: in the yaw plane (XY). ae ox 7 pp G pL al pl gt pr oy Yop" BY + Cap BY BY * “Yap BY OV pl . Br pr rl pt oe 7 Copy? Dy ~ C23p BY BY 7 CZrp BY BF eo (Tere are no rolling-monent Magnus terns) Bog oye 82 BE zh pt Copy ay + Cob by BV + Corp BY 2Y Rp . at pt gi pl Cn Chapt S7 + Cnap 37 Sy + Cup ay 37 The equalities between coefficients are given by (42)a NACA TN 3350 a Chap * Spy Cag = Capp Cty * th Snap = aby (8) Oygp =~ Sep Cngp = - Carp The eerodynamic forces end monents specified up to this point (eqs. (28), (29), (42), and (3) eriee from the interaction of the air with the mlesilete principal aercdynaule surfaces, which surfaces are assumes to conforn to th> requireuents of airror and rotations] symetry. However, in practice there mey be onell asynnetries in the missile's contour or asymietrics due to control-surface deflections, and under certain circumstencea it may be degirable to include aerodynamic forces end moments caused by the asymmetries. Forees and monenta of this nature will be omitted from the main developuent of the equations of motion carried out in this section. However, they are described in Appendix B and their effect on the motion is discussed briefly. Por @ more complete discussion of the consequences of aerodynamic asymmetry see reference 4. In sumarization of the aerodynemic contrioutione to the external force and moment, the conventional aerodynamic coefficients are given by eugttons (28) and (29) and the Magnus coefficients by equations (42) end 3). ‘The remaining contribution to the external force, the force of gravity, Fy, may be resclyed at once along the WZ axes from eque- tione (i7)}’ since @ = 0 for the XYZ axes: Fox = Bel- #8 7 - 8 cos 7%) Foy = me(¥ sin %) (ue) Foz = ne(~ 6 sin %o + cos 70) Derivation of the Differential Equations of Motion he differential equations of motion for the projectile and missile cases are derived in a similar manner to the aircraft case. The kinematic reletions and the equetions for the external force and moment are substituted into the besic vector equations (3) and (li), resulting inne NACA TH 3350 six scelar equations, three associated with components of the force and three vith components of the moment. Specifically, the substitutions involved are these: Equations (3) and (b) are first transformed from fixed to noving axes by equations (40>), Equation (3) for the linear momentum is deve: oped by equations (4) for the Kinematic momentum relations and by eque- tions (20), (11), (28), (29), (42), (43), and (44) for the external force. Bguation (li) for’the engular momentum 1s developed by equations (39) for the Kinemstic momentum reistions and ty equations (12), (28), (29), (le), end (43) for the externel moment. Agsin, the equation associated with the axial drag force (Fx) ts treated ap & special case ané derived by resolving the veetor equation (3) slong the Xj axis rather then the X axia in omer to avoid the (az - thy) Zerm. ‘The equations associated with the side force (Fy) end the normal 1izt force (Fz) contain = term in mV which ie given precisely by the axial drag equation. However, in the eide-foree ané lift equa- tions, thls term te approximsted by ‘Cy V88/2, since 1t 1s believed thet the réneining terms in the drag equation°are negligioly anell under nost circumstances, Full details of this step are given in Appendix A. ‘The next two steps in the derivation are the same as in the air- craft cese. The equations ere linearizea by separating into first- and second-order (and higher in order) terms and retaining only the firet- order terns. ‘The details of thie step are given in Appendix A, Nondimen- sional time and concise notetion are introduced next. The finel step in the derivation differs from that taken in the aireraft case in one respect end 1s sintler in another respect, The neu- trel attitude of the missile is not the steady-state glide of the air craft but 49 one in whieh the longitudinal axle of the missile pointe in the direction of motion («=p = 0). Since symmetry requires the Cz, coefficient to be zero, the main lift force due to the effective angle of attack of the serodynamte surfaces is lost in the neutrel attitude, and the Lift, drag, speed, weight, and flight-peth elevation will not be in belence with the missile in this position. Consequently, the gravity terms cannot be replaced with corresponding aerodynamic terms as in the case of aizereft. On the other hend, it is eppropriate to replace the fector, aq, by the 1ft and drag factors, 291, %op, Utilizing theredy the static characteristics of the missile mecoured if'a wind tunnel. Symmetry suggests thet it vould elao be appropriate to replace the factor yg by the corresponding side-force and dreg factors, yp, Xop, which would be neacured ina tunnel. Tae reasona for making these substitutions ere the seue as in the eireraft case and reference ig made to the discussion Lesding up to equations (19). The corresponding equations for the missile ereNACA TN 3350 43 Xo = Xp Xe = oz, + Xp (45a) ¥p = Yen 7 op Substituting equation (28) into equation (Sa) gives the relation between the eide-force and lift factors of a symetricel missile from wind-tunnel tests, nanely You, = “Fak (5p) The six differential equations are Listed below in the sane order es in the aircraft case: the three force equations, exial dreg, side foree, and normal lift force, and the three monent equations, roll, piteh, end yew. > @) +20 (2) +x + aate « gp +30 - (2 ~ yB)DB - ygyB + (2 - vr) DY - Qe - VygpDa - vag - v¥qgpDe = 0 (Qn) (1+ 2g)De + agra = (1 2q)D9 + x96 + V2QpDB + vippB + varpDy - 2g = (48) Dp = tpDp - vip ®) =0 (49) D@e - mgD@ - mgDa - mgt - vmgyDB - vmgpB + v(K - mrp)Dy = (50) D?y - nyDY - niDg - ngB - vndpDa - vnage - v(K + nqp)D9 (51)ah NACA TH 3350 Discussion of the Differential Equations of Motion Ie equations (16) through (52) for the projectile and missile cases are compared with the corresponding equations (20) through (25) for the aircraft case, it is evident thet they can no longer be divided into two separate and distinct groups in the sane vay that wes possible in the airerazt case, Egietions thet fomerly involved only the oct of varicbles ufVo, %, and 6 or the set 9,8, and¥ now contain members from both seta, Closer inspection discloses that the new menbers in the aircreft equations are sll multiplied by the mean spin, v, and hence the spin 1e stowm to be reaponsitie for the interaction between that phase of the motion ‘sescciated with u/Vo, a, and @ and the phase associated with 9, B, and V¥. Ine word, the spin couples the longitudinal and lateral notions. Although the efx equations can no longer be separated into tvo parte, one defining the longitudinal stability and the other the lateral sta~ vility, it 1e posoibie to divide them into two distinct groups. Equa- tions (46) and (49) involve only the variables u/V, and snd constitute one grcups Equations (47), (W6), (50), end (51) involve only the veri- ebles 8,0, 8, and¥ and constitute the other group. Furthermore, it will be ghoim thet the Inter group can be reduce? from four equations to two equations by introducing complex variables. Consequently, the differ- entiel equations of motion for projectiles and missiles cen be reduced to two Gistinct pairs of equations with each pair involving two dependent varlableo. ‘The aifferentiel equations will be reformilatea in this manzer and will be solved in the following section. Tt may be instructive to return at this point toe stetenent made in the introduction thet "the aircraft equations do not describe the gyro- scopic nutation and precession of a spinning shell, and the projectile equations do not describe the phugoid oscillation of eircreft" and to discuss briefly the reasons for this stetement. The phugoid oscillation of etrereft will be considered first. Equations (20), (22), and (2h) may be simplifies to give the essential features of the piugoid es follows (gee eqs. (10-100) of ret. 5): (@) + 298 = 0 (52) 220 (@) = Be = 0 (53) Comparison of equation (52) with equation (46) end of equation (53) with equasion (lS) shows that the ro@ and 22o(u/V,) terms ere missing fren equations (6) and (li8) or the'miasile and projectile ease. low, theNAGA TN 3350 45 25 factor is the constant lift coefficient that arises froa the balance of weight by ligt required by the equilibrium condition of a steady-atate glide. Since the equilibrium condition of projectiles end missiles te with their Litt zero (or vat corresponds to en equilibrium condition, since they are never in a traly steady state in flight with all dependent varieblee zero, except in a terminal velocity vertical dive), the zo tems vanish from the projectile ond missile equations end they do not predict the phugold oscillation. In other words, projectiles are hurled rather then flova through the air. The gyroscopic nutation end precession of spin-stabilizea projectiles will be conetdered next. The essentials of the gyroscopic motion are shown if the only external force or moment acting is taken to be the nonent given by mq, referred to in the ballistic nomenclature as the “overturning moment." In this case, the equations of motion reduce to D°@ + VEDY - mga = 0 (5k) 1 o (55) DEY ~ vKDO - ng6 Conpering equation (54) with equation (2k) and equation (55) with equation (25), shows thet the vkDYand vKD@ terms ere missing from the alreraft equations, Since these particular terme are essentiel to the gyroscopic motion (as will be shown shortly), 1t ie clesr that the eir- craft equations cannot predict the motions of rapidly spinning projectiles. Dynamic atability requirenents for spin-stabilized projectiles are not as widely known among aeronautical engineers aa those for aircraft and 1t may be informative to discuss this aspect of the subject briefly. The ensential features of the gyroscopic precession and nutation can be developed from equations (54) end (55). In thie simplified case, the trajectory is a straight line, since there are no external forces; X, Yo, and ¥ are ell coincident; and the angles of pitch and yev are related to the angles of attack and sideslip ee follows: Bay (56) a=6 Using equations (56) end the equality np = -mq from equations (28), equations (54) and (55) become Dea - vEDS - ma = 0 (7) Dp + vKDa ~ tas = 0 (58)46 HACA TN 3350 Equations (57) and (58) can be reduced to a single equation in the ‘complex variable, B+ ta nemely, ‘DE ~ 1vKDE - mgé = 0 (59) where i(=V-I) hes the significance of en accounting parameter permitting the simultaneous solution of the pitch end yaw equations. The solution of equation (59) is given by (60) where Ay and Ap are constants which are functions of the initial con- ditions and of 8, end Sz, end S; and Sp ere given by §= Aye AK +V~ 97+ ln vk _=V=K2v2 + ~ ov A + beg es ae (6) It should be noted that mg is positive for spin-stabilized projectiles (G.e., the center of preasire is ahead of the center of gravity; 1? ty were negative, the projectile would be errov stable and spin would not be needed for stability) and the radical will ve either rel or Imeginary depending on whether K°v® is smaller or greater than tmg. The other factor in equation (61), 4vK, 19 always Imaginary and hence the motion ie alyays en oscillation. Yow, 4£ the radical in equation (61) 1s real, the Ste will be complex and one of then will have @ positive real part. Hence, the oscillatory notion will diverge. On the other hand, 1? the radical is Imaginary, the Ste will be purely ineginery, end the motion will be an oscillation at constant amplitude, which ie the steble type of motion in this simplified case since damping terms have not been included. Con- sequently, the criterion for stability 18 Ry? Shing, ey Ting In ballistic nomenclature, K*/ing is called the “stability factor." Th otuer words, the analyets of the olaplitied equations of notion has lea to the weli-movn requirenent for stable epianing shell, namely, that he stability factor must be greater than unity.NACA DN 3350 ur The complete differential equations of motion are solved in the following section of this report. In the solution, the equations are transformed from time to distance es the independent veriable. However, it can be shown that the nondimensionel equations in t* are the same aa those in xt except for minor differences in coefficients, which will be accounted for in the development that follows. The integrated equation for the &(t*) history will have precisely the sane form aa equation (93) Zor the &(x*) history. It can be seen thet the complete § equation haa the aame form as the simplified eque- ‘ion (60) except Zor an additional tera, the constant, dg. For the £(x*) equation (93) the relations between the exponente In the equstion and the aerodynamic factors are given by equations (162) and (163). For the £(t*) equation (60) the corresponding veletions are given by Sipe Tl +T2, Sor =T2- Te 62) va(+e) wR - 9) q 87 SS, Ser = where (eg, = Ba 2 2 Keve 2 = EE . etaniisty factor ta y a ‘The above solution is valid for -»1). However, they have a clearer physical significance for missiles with errov stabiitty (mq <0) if they ere rewritten as follows: (63) sar = 3 (we Vag VR), 5g #3 (vx lea) where (an = Ba = Ba) Te: 2 ve 2 > —— 4 ag + Se ) 2 f-ing + ve Ga | 7 Equationa (62) show thet the criteria for the dynamic etability of apin-stabilized projectiles, thet 1e, the requirements for a convergent. oscillation, are a >i (or o >0) By <0 (6k) San <0 Tae term 1, is normally negative. Hence, it can be seen that dynamic stability requires that Tz <7; regardless of the sign of Tz. In practice, the magnitude of T2 depends on e balance between the lift, Zqqi the damping moment, mq + md} and the Magnus moment, mgp. That spin- etabilized artillery projectiles are in reality fully dynamically stable dea fact thet hes been thoroughly verified by experiment. Lift ané Magnus roment are both vitel elements end must be included in the equations of motdon in order to derive the correct criteria for dynamic stability. If they are omitted, equations (62) texe the forma NACA TN 3350 49 Se 0.2) (ng + 4) r oe @-2) Now O0 G-a<° Therefore, one S$ will be positive even though (mq + mg) 19 negative, end a simplified analysis with lift and Magnus moment omitted would lead to the erroneous conclusion thet spin-stebilized artillery projectiles cannot have a convergent oscillatory motion (see section on "Application of Results: Missiles" of reference 14). (6) APPLICATION TO THE FREE-FLIGHT TES? FACILITY: ‘TEE ABRODYNAMIC RANGE During the past two decades a new facility, the aerodynamica range, hes been developed for measuring the aerodynamic properties of bodies in free flight, The range is properly claseed es a flight-test facility, since the serodynamic measurements are made during e completely free flight of the model. Accurate records are taken of the model's movements along s certain length of its flight path end the aerodynamic cheracteris- ties are determined from these records. The experiment consists of recording the postions, angular orienta tions, and times of the model at a series of stations placed along its flight path through the range. Photography ie the primary medium used for recording, since it 1s e precise technique and one which does not inter~ fere in any way with the model's flight. An electrical spark discharge generates the Light for the photography and its duration can be made 80 short thet the pleture ie nearly Instantaneous In relation to the movement of: the model during the time of exposure. Hence the photographic record wives the x, y, 2, 9, @, and ¥ of the model at the particuler instant Of time that the eperk produces the exposure. The remaining flight datun, +, the time at which the photograph is taken, is measured by a special iigh-precision chronograph. To enumerate specifically, the experimental date from the flight records are y, 2,9, 9, and¥ ate series of x50 ACA TN 3350 and + along the trajectory, In addition, measurements are made of the model'a physical properties, that te, its dimensions, weight, center or gravity, and monents of inertia, before flying it in the range. To the author's imcwledge, there are seven aerodynamics ranges in operation at the present time: ‘The Aerodynamics and Transonic Ranges and the Controlled Tenperature-Preesure Chenber at the Ballistic Researca Taboratories (U. 8. Aray), the Pressurized and Aerodynanice Ranges at the U. 8. Navel Ordnance Laboratory (U. S. Navy), the Aeroballistics Field Laboratory at the U. 8, Nevel Ordnance Test Station (U. 8. Navy), and the Supersonic Free-Flight Wind Tunnel® at the Ames Aeronautical Laboratory (aca). The forerunner of all these facilities, the Aerodynamics Range at the Nations] Physical Laboratory, Teddington, England, ta dismantled et the ment of this writing, although it ts understood that plans are in effect for its reconstruction at Fort Halstead (Kent, England). ‘The aerodynemics range is unique emong flight-test facilities not only in its meagurenent techniques but also in the conditions under which its testing 1s carried out. The extent of the flight path 1s severely limited. The region of epace under observation varies from a length of 25 feet with @ cross section 1-foot equare in the enallest range to a length of 750 feet with a cross section 25-feet square in the largest range. Testing is confined to flights for which the trajectory 1s nearly @ straight line and the changes in velocity and aiguler inclination of the model over the length of the range are enell. Most of the nodele theaselves ere either simple bodies of revolution cr bodies with cruetform wings end fine having 90° rotational symmetry. Consequently, teet condi~ tions in the range agree with the flight conditions assumed for projectiles and migsiles in the present analysis, end the equations derived herein describe correctly the Minesr and angular motions of modele flova through the range. Two steps are required to obtain the aerodynamic characteristics of the model fron the flight-test date. First, the constents tn the eque- tions of motion are evaluated to give the best possible “fit" to the experimental messurenents. Second, the eerodynemit coefficients ere com- puted from certain of these constants. In this section of the report, the differential equations of motion will be solved for the particular test conditions prevelling in the aerodynamics range, the process of "fitting" the equationa to the test date will be discussed briefly, and relations between the constants of the equations and the aerodynamic coefficients of the model will be derived. 2a the Ames Laboratory, the test chember of the range 49 the work- ing section of a supersonic wind tumel. [hus the Ames facility combines the wind stream of a supersonic wind tunnel with the measurement techniques of the range. The purpose is to carry out free-flight testing at much higher Mach numbers than would be possible in still air et normel room temperatures (eee ref. 16).NACA TN 3350 Sh Equations of Notion The conditions of flight are modified slightly to fit the particular circumstances of testing in the range. The trajectory is so nearly hori- zontel that %> will be considered equal to zero in the xg and zg fac~ tors, thereby making xg=0 (66) oe p8V0) ‘The variation of drag with spin is 60 sell according to the limited experimentel evidence avetlable (see ref. 17) that the xpp terms may be neglected in the drag-force equation, (46), compared to the xq term. However, should the conditions of any particular test be such that the Xq and Xpp terme are not truly negligible, they may be readily included in the geterel solution of the equations of motion since both are Linear. ‘Tne independent variable in the equations of motion will be changed from time to distance and the equations transformed accordingly. It has deen claimed that distance 1s the natural variable rather then time (see ref. 11). From the experimentel stenapoint, the distance is recorded in every photograph while time is recorded only at a few, widely spaced sta~ ‘tions along the range. From the theoretical standpoint, the inertial forces vary with the square of the time and, in treneformation to distance as independent variable, with the square of the velocity. Now, the aero- dynamic forces elso vary with the square of the velocity, 0 it might be expected that the velocity would disappear as a primary parameter from the trensformed equations. These advanteges are realized in the case of the rolling motion (eq. (49) for 9), for which distance is the better variable on which to base the enalysis than time. The velocity no longer appears explicitly in the (x) equation end the speed range over which the equation correctly describes the rolling motion is limited only by the variation of the aero- dynemic coefficients with Mach and Reynolds munbers. Furthermore, the basic differential equation for the rolling mouent is linear in @ and containe no first-order term involving the other dependent variebles. It is not necessary to limit the variation in the value of @ in order to Lineerize the equation and its solution is valid for large changes in 9 as well es for small changes. Also the rolling motion is independent of ‘the other motions end may be treated as a special case. Accordingly, a constant aerodynamic rolling monent, Cz,, is introduced in order to include the class of missiles having aeYodynamic surfaces with aileron deflection, Of course, sileron deflection violates the requirement of mirror symmetry but ie permissible in the rolling-moment equation since52 NACA TN 3350 relaxing this requirenent introduces no new terms in the rolling~noment eqation. It ie to be understood in the subsequent analyete that only the o(x) equation is valid for large changes in spin and possibly also in velocity; all other equetions are still subject to the limitation of enall changes in both spin and velocity. Actually, the advantages of using Aistance rather then time are not as great ao might be supposed. The experinentel data are reduced in such e manner that time cen be computed easily and accurately for all of the Photographic records. The traneforned equations, with the exception of ‘the rolling-moment equation (49) for @, still contain terns involving the velocity, and it is necessary to postulate that the change in velocity be onal in crder to linearize the equations of motion. In fact, the equations for the transverse displacement and for the pitching and yaving motions are practically identicel for either the nondimensional time or the nondinensional distance aa independent variable, and flight data from the range could be analysed on either basis. However, in conformity vith accepted ballistic practice, distance will be selected as the variable used in developing the equations of motion for the range. ‘In developing the transformation from time to distance 4t will be recelled thet the x Alstence ts measured elong the space-fixed exis, Xo. On the other hand, the velocity 1s strictly determined by the rate of change of distence along the trejectory, thet 1a, letting e@ be the are length along the trajectory as at Hence, the relation between V and x is given by -@O@® (g FKo)* aS... v where $8 = se Wonl+ $= ceo Thy = 1 Now, the engle between Vand Xj is normally very onall, being less then ° (0.03 radians). Therefore the term ($VX,)#/2 18 of the order of naguitude of 0,001 dr less end may be safely neglected compared to untty. Hence, the velocity may be approxinated by v-@ (sr) Using eqiation (67) for the velocity gives the transformation from time to distence for ny dependent variable ANACA TN 3350 53 (6) faye te, we” ae Nov av/at 4» etven ty equstion (A16), (oince the xpp end xq tems ere neglected) as follows a eX avy _ _ Sx, aaa ee (69) After equation (69) is substituted in equation (68) the transformation becones, (70) Distencea are nondimensionelized in a manner eimiler to times by defining a base distance, ul, and denoting the nondimensional distance by @ plus; thet ia, mm Differentiation with respect to xt is denoted by ID; thet is, for any quantity, A Da -%, (72) Hence, the nondimensional form of the traneformation from time to distance is given by DA = ( DA wae (Poa x (Eon (73)5h WACA TN 3350 One possidie procedure at this point would be to substitute equa tion (73) into equations (46) through (51), thereby trenaforning directly fron ef to xt, “However, Lt ean be scen that neither (W/o) nor (¥/o)* is a comon factor in any of the equations of motion, (46) through (51), and that, 1f this procedure is followed, it will be necessary to make further approximations in order to linearize the equations. A better procedure ie to return to the exact vector equations, (3) and (4), the Kinenetic relations, equetions (39), and the moving-axes transformation, equations (40), to transform these fron ¢ to x using equations (70), and to derive the nordimensional linearized equations in x* as formerly int, The detailed steps are carried out in Appendix A. ‘Tyo new equations in addition to the set corresponding to eque- tions (46) through (51) ere needed for the analysis of flight teste in the acrodynsnics range. The trajectory 1s recorded and serves to determine ‘the eerodynemte Lift coefficient of the model. Tae position of the model transverse to the Xj axis is given by the y and z coordinates of its center of gravity measured along the Yo and 2 axes, In the derivation the force system is simplified by retaining only the lift, drag, and Magnus aerodynamic forces together with the gravity force, eince experi- ence in reducing experimental data from the range has shovn that the contributions to the transverse motions by the remaining components of the aerodynamic force are lees than the errore Of meseurenent and, hence, may be neglected. The detailed derivation of the y and z equatione te given an Appendix A, The eight dieferential equations of notion are Heted beloy with the frat three being the equations for the trajectory (x,y) and 2) and the Fenalaing five for the transverse velocity {8 anf 9) and’ for the angular notion (@ @, and ¥). Tt will be recalled that rotational aymnetry eatab- Mehed certain equalities between aerodynamic coefficients aseociaced with notions in the pitch and yaw planes and, taking advantage of thie fact, the notation vill be simplified by ueing only the aerodynamic coefficients associated with the piteh plane, The selection is arbitrary, of course, fand the yav plane coeffictentg could have been chosen just aa well. DPxt + xp (1 + xott)™ = 0 (74) Dry* + 28 - veppa = 0 (75) Wet + gpa + vagpP = 2g (76) (1 + 2p + 218 + (L - eq DY - v26,Da- vzgp0 + verxpDe =o (77)WACA TH 3350 58 (2+ 2g)Da + 2ga- (1 - 2q)De + vegpDe + vzg,8 + vzxpDY = zg (78) De = (tp + D9 = to (19) 6 - (mq + xo) D0 - ngDe- mga- YogyIDB - vageg + ¥(K - mep)D¥ = 0 (80) Dy = (ag + xoNDY + mgDp + mgB - mmjplDa - psa - v(K ~ yp) IDE = 0 (81) Inspection of equations (75) and (76) shows thet the coefficients, 2, urs and vegp of D*y+, 8, and a, reepectively, in equation (75) reappear aa the coefficients of D*2t, a, and Bp in eqation (76). The Sene similarity of coefficients occura between equations (77) and (78) and between equations (80) and (81) and suggesta that the three pairs of equations may be reduced to three single equations by a proper choice of dependent variebles. This, in fact, te the cases by defining three new dependent variables Ae yt sagt B= B+ ig (82) Wey 46 (in =0 + ay) and including equations (7) and (79) in order to complete the eet of differential equations of motion, equations (Th) through (81) reduce to DPxt + xo (1 + xott)™* = 0 (83) DRA +2, (84) aq Di + 2,DE + 26 (85) D?0- (1p + x9)D9 = 1p (86) DAy- aqDn + mgDE + me = 0 (87)56 NACA IN 3350 where 2p = tan + 1% 5p Lea, + veg, epee ee 2 ey (88) Ty = mg + £75, ag = my + tym, ry = Bq + Xo + 20(K ~ mp) ‘The physical significance of the complex dependent variables, A, £, and n, 4a evident 1f they are considered to be vector quantities. The quantity A is the vector @isplacement of the trajectory transverse to the Xo axis. The quantity & ie the component of the vector velocity, V, traneverse to the model's axis, X; in ballistic nomenclature { is Imowm es the "vector yaw." The quantity 1n is the component of a unit vector along the model'a X axis transverse to the space-fixed Xo exis, thereby defining the orientation of X axis in space. Because of its rotetional aymmetry, the model's motion in flight can be described by these three vector quantities together with the roll engle, 9, and the time-distance history, t*(x*). The solution of the éifferential equations of motion is quite straightforward. The coefficients in all eqiations ere constants. Equa- tion (63) containa only the dependent varieble x* and, elthougn not linear, may be integrated in closed form, Equation (84) is linear in the dependent variables A and £ and may be integrated once @ solution has been cbteined for £, Equation (86) contains only the dependent varisble, 9; ie linear in 9, and may be integrated directly. Bquatione (85) and (81) ora a pat of aimiltaneous, linear differential equations for & end 1 and may be eolved by a variety of methods; for example, by the use of the Laplace transform (cee ref. 18). ‘The exact solution to the x*(t*) equation (83) is given by xt = xo" in (1txot*) (89) The logarithm in equation (89) is expanded ina series, since xot* ie ordinarily a snell qlentity, and x is expressed as a function of rather than xt asa function of t* so thet Vo can be determined Girectly from the time-distance records as is required for the couputation SEs. since xt = 0, V2 Vo, @ = 99D9 = ¥, S= dy DA= (DA)o, Ee Egy W= No» and Dn = (Dit)o at tt = 0, the solutions to the difrer- entiel equations of motion (egs. 83 through 67) are given es follows:NACA TN 3350 oT 7 X= ap + ayt + a,t? + agt® (90) eat Bw dg + daxk + delet? + vg (BES att (90) Q= eyxt + ene"? (92) Soe be dg+ + age” (93) a fyet + rele” + tyetext (8) where @p = constant required to edjust the zero of the distance scale to coin clde with the zero of the tine ecele, x=0 at t=O (95) a, = Vo <2 (96) : aps gle (97) . no = (essuming x9 constant) (98) bo = Ao +t (+S) (98) ban (Dad + ay (3b+ (100) be aa tite (201) bg =~ % (102) wo. | tpt ze) + Yo 103) a: fq = % [ (ip + x0)” ] i : ato (208) Tes)58 NAGA TN 3350 - Mp tt) tte os (206) (107 (108) (209) [Ovo +a¢J] segh 120) ae RE (aaa) led, = roots of R(8) = 0 (uz) R(8) = (8 ~ ag)(8 - a4) = (123) = yey = ym yey + “i a(s) = se +( 8 é (ay) Cs non Hey, (a) fo = 1g » et as) (as) 0 a? (ag = aa) a? (ay ~ a) ey - - (226) aaoty = de) (17) fe Fla, - a) t,- Hee) (18) Cs)NACA TH 3350 59 (Dn)os Z pb ~ MeZpEo - es) «(yg ots] Prete tele HD, Equations (90) through (9k) with the constante defined by equa tions (95) through (119) deseribe coupletely the motion of a projectile or missile flying through the range under the conditions postulated. They forn the basis for determining the aerodynamic properties o? the model fron on analysis of the flight recoraa. Reduction of Flight Data ‘The first step in the reduction of date 1s the computation of the conatents appearing in the equations of motion. It is assumed that the equations represent correctly the actual motion of the model and that any differences between the theoretical and experimental values are due to errors of measurement, The problem is to determine the values of the con- stants, the a's, b's, c's, d's, and f's, that give the best fit of theory and experiment. Specifically, the best fit normally means that the sun of the squares of the residuele between the computed and measured values je a minimum. In principle the procedure is to compute an initial set of values of ‘the constants by some approximate analysis of the date and to correct thie intial set through a series of iterations. The sum of the squares of ‘the reeiduals ie computed at each etep of the iteration, and the varia~ tion of the residuale with time or distance is studied in order to detect any systematic trends. If the process is convergent, it 1s carried out until the residuals are random in their distribution and until the sum of thelr squares epproaches a steady, minimum value. ‘hen, if the everage value of the residuele after the final iteration ts of the seme order of magnitude as the estimated experimental error, the fit is considered to de satisfactory. Tt should not be supposed that eny one set of procedures has been drewn up to reduce the data fron aerodynamic ranges. The computations are deteiled end lengthy, and each range has its own unique methode sdapted to the peculterities of the apparatus and to the uses for which the data are obtained. Reference ie best made to the facility of interest for a description of the methods in use there.60 NACA TN 3350 Tae final step in the reduction of date 418 the computation of the model's aerodynenic coefficients from the constants of its motions, The relations between the two are contained in equations (95) through (219). . However, the equations named ere formated from the standpoint of ‘com puting the motions after the aerodynamic properties and the initiel con- Gitions heve been given. It ie desirable to transform these equations and to simplify certain of them in order to facilitate the conputetions involved in thie step. With regard to the constante in the x(t) equation (90), the ats, the velocity and tine factor are given by? Vos ay (220) we ee (221) and the drag coefficient factor by: Brag lap 222) oa (222) xote With regard to the conatents in the A(x*) equation (91), the b's, the Lift coefficient factor, and Magnus force coefficient factor are given by the real and imsginary parts of bg ae follows: eon ban (123) Vigy =~ Par (224) although 1t should be noted thet the determination of gp from baz may be marginal under certsin circumstances. - With regard to the constants in the 9(x*) equation (92), the cls, the statie and damping rolling-mowent coefficient factors are given by pt Xt eg — (eas (106) (225) ee (226) and the initiel value of the non@imeneional gpin by : veer t Coty (227)NACA TN 3350 6 With regard to the constante in the £(x*) equation (93), the d's, the relations between these and the aerodynamic coefficient factors are derived by equating the sum of the roots of the quedratic in S, equa tion (123), to minus the coefficient of the linear term, equation (114), and the product of the roote to the constant term; that 18, (128) (29) Substituting equations (88) into equations (128) ana (129), regroup- ing into real and imaginery parts, and replacing the aerodynamic factore by their definitions in terms of the aerodynimic coefficients gives for equations (128) and (129) == (an + agp) - MCder + daz) (230)62. NACA TN 3350 2) -2-e SL Th Tg? ie * Se oe Cz, 2. va oY + Ge tata)eiGate santa) — 68) Tt can be cen that many of the terms in equations (130) ana (232) contain the projectile density factor, #. Now, is a large number in ail practical cases. It varies frou 100 to 1,000 for full-scale projec tiiea and missiles and from 1,000 to 10,000 Zor models tested in the range. Consequently, certain terme vill be mich enaller then other terms and may be properly neglected consistent with the other epproximations of ‘the linearized equations. Separating equation (130) into real and imaginary component equations and neglecting all terns of magnitude 1/y or smaller gives (aq, > Xo > Mg = my) = - (eR + dan) (232) vK = (daz + 447) (233) Separating equation (131) into reel and imaginary component equa- tions, retsining only the terms of magnitude win the reel part, neg lecting all teras of magnitude 1/k or sualler in the iuaginary pert, and neglecting dar d4R compared to day dyr givesNACA TN 3350 63 Meg = der agr (234) -V(Kegg, + pp) = (dor Gar + ap @42) (135) ‘ol ‘Bp’ 2: The gun of the demping-uoment factors, mg + mz, can be computed from equation (132) using equations (122) and (123) foro and zy. The wean nondiuensional spin v can be computed fron equation (133) 2nd checked ageinst the value from equation (127). The statie-uonent factor, mq, 18 given by equation (13h). The Magnus moment factor, tgp, can be computed from equation (135)+ From equations (74) through (61), it can be seen that ell of the aerodynamic coefficient factors have been accounted for thus far in the reduction of data except za, tq 24,1 rps Mgr Erp, end possibly, Zpy Also, only the eum, my + mz, can be computed, but not mg and my indi- viduslly. These exceptions represent the limits of the analysis of teat deta presented up to thie point. One further possibility may be exploited in flight testing in the aerodynamics range. Instead of only one model of a given configuration being tested, two modele are tested, both having identical external con~ tours but one having e center-of-gravity position different fron the other. In thie vay the sum of the damping-force factors, 25 + zq) may be determined from neasurenents of the sum of the corresponding danping~ nonent factors, my + mg, et the tvo center-cf-gravity positions; similarly, the Magnus foree factor, tgp, may be determined fron measurenents of the Magnus moment factors, upp, at the two center-of-gravity positions. Also, ‘the normel-force factor, zq, may be determined in this way from the ma's, should measurements of the trajectory be unculteble for eome reason. On the other hen, it does not appear possible to separate (24 + zq) or (m+ Bq) or to determine 25, app, tg, and ty) from range tests. However, tt can be seen from the develomeht leading from equation (128) through to equation (135) that only the oun (2; + 2q) or the mum (my + tq) is reteined in the final equations as a quantity having a significant negnttade and that ell of the factors, 24) tpp) My, and typ are negli~ gible. Consequentiy, it may be concluded that all of the aerodynenic coefficients of practical significance may be determined trom free-f1ight testing in the aerodynantca range on projectiles and missiles with rote~ tional end mirror symmetry flying under the conditions of small angles of sidesiip, attack, pitch, and yav, and enall changes in velocity and pin, as specified.6h NACA TN 3350 Comparison With Ballistic Taeory Differences in nomenclature and derivation complicate a comparison of the projectile equations developed in this paper with those of ballis- tic theory, The differential equations giving the x(=), o(c*), and A(x") Botoriee cen be coupared direetly witn the corresponding ballistic differential equations, ag in the aircraft case, On the other hand, the equation giving the {(x") history is best compared in its integrated for. It is firet necessary to derive the relations between the nomen= clature of thie report and thet used in ballistics. She comparison will be made by transforming the equations of this report into the ballistic terminology. The ballistic nomenclature will be taken fron reference 10, except for that used in the g(x*) equation, which will be taken from reference 19. The ballistic equations will be taken tron the following sources: the x(t) equation from reference 20; the p(x") equation trom reference 19; the A(t) and &(x*) equations from reference 21. These references were selected decaiee it ie underetood that they constitute the basie for the analysie of data from the Aerodynamics and Trengonie Ranges at the Ballictic Research Laboratories end hence present @ section of ballietic theory which is in use at he present tine. In ballistics? the aerodynamic coefficients are denoted by the capi- tal letter K and the aerodynamle factors by the capitel letter J, the two being related in all cases by 5 2 otk (236) where a is the Qlemeter of the projectile, A study of the geonetry and nomenclature of reference 10 shows that the following relations hold for the transformation of quantities defined in this report into ballistic terminology: Fax = Pa My = Gy veu B = up/u peer ae oe (137) yea eB By = k(6/2) wt wad Va E (veriisticlss? Me Yoaruistic "Ee S= (Speitisticlias °° (ballistic). Siz a ballistic eyabol 1s not specifically defined in this section, it hae the same definition in both systens of nomenclature and is given in the list of symbole at the beginning of this report.a WACA TH 3350 6 The transformstion of the aerodynamic factors can be derived from the definitions of the ballistic factors, the J's, given in reference 10, namely Fa + the = BE (- dy + Susp) (ve + fe) + m(vdy@ + 155)(ue + des) Go -ndu wid, (338) Ba + is~ ae (+ vp = Ady )(ue + dug) + Bu Eis tat swag (we + t05) It equations (138) for Fy,2,9 and Gy,g,g and equations (11), (12), (28), (29), end (42) for Fay ay az md Mey g are substituted into the rela~ tions between the force and moaent: componenta given by equations (137) and the coefficients of the dependent variables are equated, eluce eqia- tions (137) must hold for all values of the dependent variables, the fol~ loving relations are obtained: L %op =F Ip io a % = Hg oN ye] = + 5 Pa[t Fa D (239) 2gp = - Ip 1fa 2) ae Jt will be noted that the factor 2, bas been added to aq in the equa tion for Jg and similarly the factor m, has been added to mq in the equation for Jp. In the strictest sense the added terms should have een omitted since the ballistic nomenclature does not include the ¢ ep =66 WACA TN 3350 couponenta of force and moment, However, the relation between the sero- dynamic factors and the constants of the e(ct) equation given by equa- tion (132) shove cleerly that mq should be added to mq in the inte- Grated equations of motion as they apply to flight in the aerodynenice fenge. Furthermore, since (zg + 2q) is the force corresponding to the Rouen (mg + ity) just a8 dg 4 the force corresponding to the moment Sg, 7%, should be added to 2q in order to have the equation for Js consistent with the equation for Jy. The 1Lft and areg factors are introduced in the same manner in the ellietic developnent as in this report (see eq. (19)), that is 5" Sy - Iba hence tap = MES, (240) Since they may be of inteyest im reading the ballistic literature, the equations between the serodynemic and ballistic coefficients are Mated below: 8 sso az °D Ke and (aka) tne xt(t*) history 1s given by equation (7h); however, a more sutt- able form for the purposes of comparison is given during the development of equation (7H) in Appendix A, as Zollove: ade. oy, £8? (243)NACA TH 3350 6 Equation (143) becomes, after transforming from time to diatence by equa~ tion (68), aGe- oy Sov (ay ‘The comparable equation from reference 20 1s given on page 8 of the reference as follows: av iam (1s) where V = velocity of projectile (= v) z = distance elong range (= x) 2 nets +” bal Te equation (1k) 4e transformed into ballistic notation, it becomes, using Cp = Cy, as specified by equation (19), which is correct to frat order since Cy, = 0 for projectiles and missiles, #.-i5 (246) Comparison of equation (116) with equation (145) shows that the results of this paper egree precisely with those of reference 20, The o(x*) history ie given by equation (86). The comparable equa- tion from reference 19 is equation (14) of that report: 9" 40,9" - Op = 0 (er) where (in the notation of ref, 19) Kp _¥e rom (148) X, A etudy of the nomenclature of reference 19 discloses the following rela~ tions between ite nowenclature and that of the present report:6 NACA TN 3350 (akg) After it 1s transformed into the nomenclature of reference 19 by the use of equations (118) and (149), equation (86) becomes o" + Cyt - Ge = 0 (150) Comparison of equation (150) with equation (147) shows that the results of this paper agree precisely with those of reference 19. The differentiel equation for the A(xt) history te equation (93), whose constants are given by equations (99) through (102), The comparable equations from reference 21 are equations (li) and (5) of that report: 8" = (Sy twp) ba A(vayp + A5)g" - AE (251) + thy =k, ets. + ic ef, a oy (152) where Ky) kp) Quy and 92 are given by equations (6) and (7) of refer ence 2: 1 kis Ky ex [{[nea gg), 2[a-8 a E | he (2538)NACA TN 3350 9 (153) (5h) Experience indleates that the term i(vyg + tg)f" tn equation (151) is negligible compared to the remaining terms, and consequently the bal- Listic equation Zor the transverse dieplacenent reduces to 8" = (Jp - vp) £ -8 (255) A study of reference 21 shows that ite nomencleture is transformed into the nomenclature of this report by equations (137), (139), and (140) together with the following: . (356) If equation (8L) ie transformed into the ballistic notation, it becomes: (ay, ~ vag) & - 4g - S480 = No) (as7) ee eee eo Comparison of equation (157) with equation (155) shows that the transformed A(x*) equation egrees exactly with the ballistic equation exept for the term 2ig(u ~ up)/a®, For representative tests in the sercdynenics renge, thie term 3c negligivle compared to .the renalaing terns in equation (157). Hence, it may be concluded that the agreenent between equations (157) en (155) is satisfactory.70 From the comparison of equation (93) for the e(x* NACA TN 3350 ) history with the corresponding bailletic equation (152), it can be seen that both equations have the sane form. concerned with comparison of the constants of the equations. Hence, the question of agreement between the two is ‘The gero- dynantc factors are determined solely fron the constants dp and & (sce eqs. (93) and (132) through (135)) and st 4a believed sufficient for the purposes of this report to contine she conparieon to these two constants. Comparison of equation (93) with equetion (152) shows thet the real and imaginary parte of the exponents in equation (93) are related to the exponents in equation (152) as follows: tated [{[-2+9-B- t[a-#- sae ed [{[ +s +% 2[a-3- 2 aerat =o +S [ 3a te 44r x* = ao + By Ditterenstating equations (156 L a equations (158) and (159) with respect to that x= 2, and limiting the comparison to t = 0 gives =) (2580) | oa) ] : (158) (159) 2, noting from ndZ, 9 sa-GNACA TN 3350 1 (261) Up to this point explicit expressions have not been derived for the reel end imaginery parts of dp end dy, since such expressions are not required for the anelysie of date from the range. However, they ey be resdtly obtained from equations (132) tnrough (135). The golution given below is velid Zor ell values of = or ¢ except the region for which OSs <+1 for which o is imaginary. If mg 1s negative, correspont- ing to 8 1, the model will have arrov stability. If mg is positive but s >1, corresponding to O0 being epproximatea by . cos kTig = 1 - SINER Ko and the velocity, V, 1s given by16 NACA TN 3350 VaVo+u (ak) ea Vo Vo 12 equations (Ali) aze expanded in @ series, equation (A3) way be separated into first and second-order terns with the Plret-order listed on the left-hend side and the second-order on the rightshand side, as follows: gu , ¥o"s bu w ay Sg + xg + Oy Bie + Og BIE + OUP + 2 TE Oy) + m du zy sc, aK, VRS ag ein yy = BOY str $TK, + nV ain dTxy IS PSE (oc B : 4 Becy By ope 2) Oy oe Shy BYg Wo" Ka Blo Vo * W209 e ) > “Bm Og? BF (45) Te the right-hand atde 1s neglected, the left-hand elde ts divided by (p8¥o2), and the equilibrium conditions (eq. (18)) and 1ift and drag coefiteiente (eq. (19)) are introduced, equation (A5) becomes equa- tion (20). A elight variation of equation (A5), which will be useful in deriving other equations of motion, coues from equation (A3) by introducing the equilibrium condition of equation (18) _ namely, av sv oy 2 oR Cae 8-348 -on8) - ¥_component of force.~ This equation is derived by resolving the vector force equation (3) along the Y axis, ihe components ot M and T sre given by equation (6), the componente of Fy are given by equations (11) and (15), the componente of Fg are given by equation (17), and the transformation of moving exes is given by equation (9), Bquation (3), modified by the foregoing, may be resolved slong the Y axis ae foliove:NACA TN 3350 7 a + ng(¥ ein 7% +9 c08 7%) (AT) pv’s Bu 2 mn) ¢ Bees i) "sp + Ox, By * Cty By t We BY The following quantities are epproxinated by cos B=1-% =8 ein’a, - sin®s 21 - ie op) The velues of rand p are given by equation (7) ay Bet a $2. or p= Bo After division by Vand the use of equations (Al) and (A6) for V and av/at, equation (A7) may be separated into first- and second-order terms vith the giret-order Meted on the left-hand side and the second-order on the right-hand side, as follows: ae, at) | Dves Phicy, Sacy, )- Be poco 7) 9 BEB + ous LEED me) AE 8 (ge Ong B+ a . v (. a) u fesh Cag + cope) ~ SE (oye HE + oxo + [Be oxge - 3 (1 om Yo +9 <8 70)| (a8)8 NACA TN 3350 Jf the right-hand pide te neglected, the left-hand pide ie atvided by (ov08), end the lift and drag coefficients (eq. 19) are introduced, equa tion (48) becomes equation (21). 2 component of force.- This equation te derived by resolving the vector Force equation (a) along the 2 ates Tae components of WE V, Fy, and Fy are given by equations (6), (11), (25), and (17), respectively. After transformation to moving axes by equation (9) and division by V, equation (3) resolved along the Z axi beconea (ae, av sine 2(Beose+ Sptep sin p-adt “sina ein) at Cg = Ong = Ong SE - Cay 2) +B ¢ @ ain 7, + cos ZS) (ag) The following quantities are approximated by : sinasa 2 2 [rs sia inte = 2 - SER The velue of q ie given by equation (7b), namely ao Qs ato By the use of equations (Ak) and (46) for V end av/at, equation (A9) may be separated into first- and second-order terms as follows:NACA BN 3350 19 (G 1 sa B2 (Cte + tq, + ts Bis SE [- 6 sin 7 +(a- i) ove % | Pa o? + 82) |, p¥QSa a at [225 + ge - vp - MESO |, wa Oyao + ORET + Oxy Se + Cz8) + (ra) wa [2 oy, 08%, (Foto a Be sin \ EC Ba Be ater If the right-hand elde 4e neglected, the left-hand elde divided by (6¥o8), and the equilibrium conditions (eq. (18)) and lft and drag coefficients (ea. )) are introduced, equation (A10) becomes equation (22). X component of moment.- This equation is derived by resolving the vector moment equation (I) along the X axis. The conponente of F, &, and H are given vy equations (6), (7), (12), ané (15). After transformation to moving exes by equation (9), equation (ii) resolved along the X axis becomes x ar : ty B- Ie Zt eg- W) - wre, _ ps2 bu BL 2) = SHE (age toy toy Bt oe He) The values of p andr ere given by equation (7), namely, = p= S2- or re ok. ae80 NACA ‘TN 3350 ‘The value of V is given by equation (ah), namely, Equation (All) way be separated into first- and second-order terms as follows , a ae eae ( aa a8) 1 99 ,¢, 1 av) Ta gee 7 Sz gee EO Cg + Og ars ae * te BS ae te BD at] p Aah PVR? y = Tx (26 + 08) - dyz (ob + 94) - ar(Ig - Ty) + ap dyg + S$ Te (eh + If the terms on the right-hand side are neglected and the left-hand side te miltiplied by u/Ky? pS2Vp%, equation (412) becomes equation (23). X_component of moment.- This equation is derived by resolving the vector moment equa ‘along the Y axis. Te couponents of H, G, and H are given by equations (6), (7), (12), and (15). The value of qs given by equation (7) to obtain 4, nanely 26 , aor) ae * at After transformation to moving exes by equation (9), equation (4) resolved along the Y axis becomes ly (3 age) | + p(y = Ig) + Jug (p - 22) 2 i 7 - sue (ne + Cage + Cg BE + Cag #) (23) The value of V is given by equation (AK), nemely,NACA TH 3350 a Equation (413) may be separated into first~ and second-order terns es follows: ag S2Vc ly fe _ psuret (0 + Ones + Ona SE + Ong SE) or UGE) xp(az - 1x) + shalee - pe) + PSB" = one, Hi * Ong BE) + SEE (ons Bp (aus) Ta’the right-hand side te neglected, tue left-hand aide mitiplied by u/p8iV*Ky", and Cy, set equal to zero in accordance with equilibrium conditions specified by equation (18), equation (A14) becomes equation (24). Z component of moment.- This equation 19 derived by resolving the vector moment equation (5) along the Z axis. The componente of H, @, and H are given by equations (6), (7); (a2), and (15), The values of p andr are given by equation (7) +3 cbtain p and #, nenely, po 282. aon ate After transformation to moving axes by equation (9), equation (5) resolved along the Z exis becomes 2 a a(ér, [£E- 292] - se (82-92) ooete- tote - psv> 2 i pt x Cage + ong or * Cnp By t Cay Be) (425) The value of V is given by equation (Ah), namely, v w witty82 NACA TN 3350 equation (A15) may be separated into first- and second-order terms as follows, a2 _ pS1Vo* 1 ap au 2 ab ay Ya ge 7 Ske gee 7 Engh * Ong aig ae * Shp Bie ae * Oe BIS =) = 3g MOD) yg MED + palty ~ By) = Syger + Te the right-hand eide te neglected and the left-hand side is multiplied by u/pBIVo?Ky?, equation (A16) becomes equation (25). Symmetrical Missile end Projectile Equations With ‘Time as Independent Variable Tue mienile and projectile equations are derived by resolving the vector force and moment equations (3) and (4) along the XYZ axes, except for the X component of the vector force equation, which will be resolved along the space-fixed axle Xp inetead of the body axis X. The deriva~ ton will proceed as follows: First, the component of the exact vector equation will be written down treneformed to the moving XYZ axes, except, of coure, for the Xq component equation; second, the kinematic rela~ tions will be substituted for certain of the dependent variables, various functions will be expanded in series, and the resulting equation will be vritten down separated into first- and second-order terms with the firet- order terme on the left-hand side and the second-order terms on the right~ hand aide. The following relations will be used: The transformation from space- fixed to moving axes is given by equation (40>); the direction cosines of ‘the angles between Xp and X,¥,2 are given by eguntion (1); the conponents of Mand ¥ are given by eqistion (6) and of Hand @ by equation (39); ‘the components of F, are given by equations (11), (29), and (2), of Fg by equation (44); and of HM by equations (12), (29), and (42); the magnitude of the velécity, ¥, 1s given by condition (2) preceding equa- ‘aem {@) and the ariel oononmut of the engutar velocity, 9, by equation St).NACA TN 3350 83 . The following series expansions will be utilized: sina= a sin B= 8 os aa1- -# eopa=1-S2 coo pa1- 8 [iW sin? a ~ ain?s v\ u Geyer In deriving the ¥ and Z components of the force equation, the following approximation will be used Bee ine) Aa will be shown in the derivation of the X component of the foree equa : tion, the above equation neglects the terms Cy. p8V/2n and g sin Yo/V. From the limited experimental evidence available, it 1s believed that the Cx,, tem is truly negligible under all practical circumstances. On the other hend, the gravity term 1s strictly negligible only for horizontal trajectories or in those cases for which the drag force greatly exceede the weight, In other cases, for example, a bomb falling along a steep trajectory, the gravity tera should be included. ‘The gravity term will be omitted from the present treatment since the application covered in this paper i to the aerodynamics range in which the trajectories are neerly horizontal and the drag force is nany times the velgat in the great majority of teste. a +p? (a27) 1 =z X_component of fore ay, ae cr FyyC08 XXoX + Faycos KXGY + Fazcos kKZ- mg sin yo — (a19) vere Vy, is the component of 7 clog %) and ie given ty Vx, = ¥ cos ky . a [ (coo x¥.) ® = (W sin k¥Xo) B-to-B) ] We ae at ~ Yop B¥5 Bo BBV \CYox% + L mg sin 7)\) w ore, a dee Yep Bie, = “Eee BOY (a2)NACA TN 3350 85 After division by (e8Vo) and neglect of the right-hand side, equation (A2K) becomes equation (47). Z component of foree.- aM, wae - Mx= Fag + Foz (a25) aa. 98), 98V0 . aw is a 8 at” at z Sq, - ho )* * Ca BS att a BS get BE (cos 70 - 8 stn 70) a , Pt rt Sot (¢ a B. 2g, B¥g Bo St + np Bg Bo | E> BV (CapyP + “25, Be aE zn w Cap a) + HE Gh (8 8 70 = 008 70) (26) If it ie divided by (p8¥p) and the right-hand side 1s neglected, equa- tion (426) becomes equation (48). X_couponent of mouent.- ay SE + at = shy = my (27) Since rotational symmetry requires that Iz = Ty, equation (a27) becones - pee ep ce eae 4 - (, Big at * ln We Ve p80? (uu pte zt a(er) (Cap oo Bre - 82y0 BE) + te SEED (n08) If it fe multiplied by u/pSiVo*Ky? and the right-hand side is neglected, equation (A28) becomes equution (49).86 NACA TN 3350 Y_component of momen’ ay Ge * THe = My (a29) Fe ay + Ong sie 2 + ty fet Wo ae 7 Cag Bie ae oe Poole Trp BV, Vo re is, le 2152 aa at wo exyent + SEE (coms + Ong SE + Cay BE + é Le PBIVoF prt ( + om, ge B zk Cngy By 2) Zo Big (Sapp + Om, Bi de * Mp Bip (430) ‘Through maltiplication by u/pS1V,*ky? and neglect of the right-hand side, equation (A30) becomes equation (50). 2_component of mowentt.= ay 2 any = a3) ae 7 Bx Me (a3: eB a a6 pSTVo> 1 Ll ay tg SE - eso 3B SPE Gngh + Ong aig et Oo BIG HEY a P * Ong BVS a Pot One Bee + Ong, 2 e8IV,! ' w Br xD 7 syw! + 53> ¥S (2ags + Ong 26 * Com BRS Coup Bee) + pStVo™ ptt 1 ae a = Be Cngg + Oday Bie Bet CROP Be, (3a)NACA "IN 3350 87 ‘Through multiplication by u/pS82V.2K? ae neglect of the right-hend side, equation (32) becomes equation (51). Symetrical Misetle end Projectile Equations With Distance as Independent Variable The misaile an’ projectile equations with distance as independent variable ere derived in a similar manner to those with time es independent variable. The procedure followed closely parallels the preceding section. Firet, the component of the exact vector equation will be written dow and fer those components which are resolved along the XYZ axes it will be written transformed to moving axes. Second, the Kinematic relations will be substituted for certain of the dependent variables, various func tions will be expanded in series, differential quantities will be trans- formea from time to distance as independent veriable, and the resulting equation will be written down separated into firat- and second-order terms with the first-order terms on the left-hend eide and the second-order terms on the right-hand side. ‘The sane relations will be used es in the previous section. In adai~ tion, the transformation from time to distance is given by equation (70). Algo, since the principal application of the equations with distance as independent varieble is to the eerodynanics range, the earth exes will be oriented as they normally are in the range vith Z vertical and Xo horizontals consequently, Yo = 0+ It te evident from the relation, V = ax/at (eq. (67)) and the develop- nent of equation (A22) that the X-component force equation gives the relationship between tiue and distance. Consequently, 1t ie proper that time ahould remain the independent variable in thie equetion. However, the fora of the x*(t+) equation (7k) may not be familiar and the stepa leading from equation (a22) to equation (7) will be presented in this section. Tt should be noted that in thts development the Cy term is neglected. co) Application of this theory to the aerodynamies range requires equa- tions for the transverse displacement of the trajectory, y and z. The equations for y and z ere derived by resolving the vector force eque~ tion (3) along the epace-fixed Yo and % axes. Their development will de presented in this section. It should be noted that the only forces retained in deriving the y,2 equations are lift, drag, end Megnua Forces (ChasCDos0zp,) Time-distance equation.- If equation (22) is multiplied by at/aV? and the rigat-hand side ie neglected, it becomes BY oP ae (433) r em8 NACA TN 3350 Since V= Vo at t = 0, the integral of equation (a33) may be written og, p8¥gt 2 v Vo (a + Saker) (a3) If equation (434) is substituted tnto equstion (A33) and the relation V=dx/at is used, the resulting equation may be written ax, g, Moe eso, Se + 0, 22 2) =o (935) After multiplication by u/eSVo2, equation (A35) becomes equation (7h). ‘Transverse displacement of trajector; 2 equations n EY ~ rycos Hok + Freos Mol + Pacos Kfod 7 (436) red Fxeos X%oX + Fyeos oY + Fzcos Zod 8 (oy 1 nie Og, = CagP + Capp By a) (437) osu? 2 of. ee Caan Copy By P) + ms Transforming equations (A37) from time to distance, dividing by V?, and separating into firet- and second-order terms gives ay , 8 = orp, Bab a oS (cn,e Capp + ox,¥) ip, (Ge 2-H) ay ax? a ey ; wm ae. SHsP9 oe, 08 Bat ng aft a+ ¢; 8 - o,8)- 3S SEE at S (Cent Upp Big O - SK?) TE aS, aye e eR Be & To) Oa YNACA TN 3350 89 For emall anglee eae ax if lift and dreg coefficients are introduced end the right-hand sides are neglected, equations (A38) become oy 68 Bebe (439) = ae s oe Chae + Cg, 8 g eo aie VQ After enltiplieation by (p8)7*, equations (A39) become equations (75) and 76). Y_component of fore aM “Ret My + Fay + Foy (423) (ao) Dividing equation (/0) by (pS) and neglecting the right-hand side gives equation (77).Waca TN 3350 90 z tof foree.- aMg : “ae - ax = Fa + Fox (ae) % de. _ 98 Layo, 120 6 -E)+e [(con- Ho) ¢* &, 3 Bq 3 ax * Pol Pol 2 a6 Bh tae | Pol prog, BALD s oy ES | - Lipp Big © * “Bpy Bq B ax * Fry BVo Bax |” VF aa _ ao 222 | se (ee pla as pert). Spl * pees Cle Bs #S)- 2 Big (Stax? * 25, BF at * Zep BY 8 7 Dividing equation (AKL) ty (0S) and neglecting the right-hend side gives equation (78). X_component of monent.- (ner) By, Soo + aig - vty = With the introduction of a constant rolling moment, Cj) equation (A27) econes aq _ 28% ae) _ 982 Ese) . alee) . ot x (B-FBE)- FO. tp tae) * ae os Be (ale) Multiplying equation (ale) by u/pS2Kx® and neglecting the right-band eide gives equation (79). X_component of moment..- (neg) ay FE + ry = MyNACA TN 3350 aL By ae Po ay _ pSt lee BECKY 2 a6 ny 28 EB [one + ome BE + (omy me) Bt Po Pol 2 ap Pod 2 ai apy Big? * ORs, Bie Bax * rp BV, BE - Kav (ot uw _ pr) _ St pow 2 ap TEED SRE Cw Ee If equation (a3) is miltiplied by /pS?Ky* and the right-hand side is neglected, it becomes equation (80). EU (a3) T20x,68 1 SH. HEE ay _ 5, Po 98 282 (ons + op, FOB 4 ae Ba ax Yo ax" 2 B gp 2 ae Lay Bol Pol 2 ae Pot 1 ae ny 3 dx + Step BYG% * Ong, DVS B ae Bp 2 ax, fo OX Vo Yo Yo Lae gt), eB #4, at Cue BY Ge * Map By) * BBV, Ban” * Cag, BP + Sngp By) (al) If equation (AMM) is multiplied by y/pS?K,# and the right-hand side is neglected, 12 becomes equetion (81).92 NAGA TN 3350 APPENDIX B MODIFICATION OF THE SYMMETRICAL MISSILE AND PROJECTILE EQUATIONS 70 INCLUDE THE EFFECTS OF SMALL AERODYNAMIC ASYMMBTRIES Forces end monente due to sercdynanic asymmetries are not independent of the roll angle as are the Hence, they will be defined as conponente elong the 1, 2, 3 body-fixe ‘axes as follows: FR principal serodynamic forces and moments v5 12,9 7 Fi2,9 (m) pv282 My 2,2 7 M2, The components of Cy and Cy along the X,Y,Z axes are given by Cx, (due to seyametries) = Cry Tt ds assumed that the Cy, = Graces 9 = Crgsin Opgeos 9 + Cpasin F Sy = Se, Cyat0s @ = Cugein = Cygcoe 9 + Cyasin > & (32) é " coefficients, Cpi,e,o end Cys,2,9 are first- order quantities, in contrast to all other aerodynamic coefficiente. This is evidently the case if the are due to control-surface a and, hence, the requirenent that the control surface def! velocity, V2, may be replaces seymuetries are small. Also, if Cp or Cy feflections, 5, they will have the form Cp,5 thet they be smell is equivalent to assuming ‘Lections be eusll. Consequently the variable a by the constant, Vo%, since the term 20 uj, will be second-order and hence negligible insofar as the Line- arized theory is concerned. Certain of the models t symmetries of the type just eoted in the aerodynamics range have small described. It is desirable, therefore, to derive the modifications to the equations of motion which are required to account for the effects of the asymmetries. Two of the components have already been accounted for. ‘The X force component, Fy, is a constant and ite coefficient, Cp,, may be considered to be included in the axial drag coefficient, Cy,. the the g(x*) equation by the particular equation the Cya. X moment component, Mz, has been included in Jo term, Tt should be noted that in this coefficient is not required to be smallWACA TN 3350 93 (first-order). The remaining components affect the A(x*) and &(x*) motions? and the changes to the equations involved will be taken up in this order. A(xt) Equation ‘The modification to the equations involved in the development of the A(x+) equation are Listed ee follows: Ada to the right-hand side of the equation listed the term following. (37), first equation Fy, (a37), second equation Fz, (439), ttret equation cy, (a39), second equation 9 op, cy, Gra eae ¢, 20 (76) 2 (Bh) foet? waere 2, = Hes See (0) - tee] Te vxt 4s emall, the added term in equation (91) is approximated by ee Gy ea) Hence, if the migsile does not roll (v = 0), the force due to asymmetry will Cause the tranaveree displacenent, A, to increase with the square of the distance, x*. (xt) Equation ‘The modifications to the equations involved in the development of the £(x*) equation are listed as follows: Add to the right-hand side of the equation listed the term following. ‘Whe (a) motion is affected also but the changes required to the n(xt) equations will be ouitted from this treatment since the §(x*) motion is the one ordinarily reduced in the anelysis of flight data.oh NACA TN 3350 (anz) Ste (ay) Ee (m7) =e (78) = (eo) Hee if (Sag (85) foe? (87) ei? (Cia = 12) where my Se The aerodynamic asymmetries vill change the values of the coefficients Gy and dg oF the integrated E(x*) equation (93)3 the folloving term should be added to P(S), defined by equation (110): 7 5 (49-36), 1 8(8£5 - myo ) at % "0 7 Myfo = Bq f é t where { is the variable of integration replacing x* in functions of x* appearing in the integrand end @ is considered to be a function of $. The added term may be readily derived in the integration of theNACA TN 3350 95 simultaneous differential equations (85) and (87) if the integration is carried out by the Laplace transform end use is made of the convolution of the "naturel" frequency and the "asyumetrical forcing function.” A clear explanation of the operetional mathematics involved is given in chapters I and II of reference (16) (perticularly section 1h on the convolution; Churchill states thet the convolution is aleo known as the Faltung integral). Tt may be of interest to note that if the roll rate with respect to Gistence 1s constant, that is, if 9 = xt + 95 then the term added to P(S) becomes 8(Sfq - unto - enmo)et? | elt By (4v = 8) Hence if v= Sy7 or Say then (1v - 8) = Syy or Sag, ordinarily # emall velue. Consequently, the value of the corresponding tera will become very large. In other words, the oscillation experiences # divergent resonance as the roll rate approaches the pitch or yaw rate.” @fuie result hae been noted elsewhere in the literature; for example, see reference I.96 10. ue 12. 13. ab NACA TN 3350 REFERENCES Jones, B, Melville: Dynamics of the Aeroplane, Vol. ¥ of Aerodynamic Theory, div. N, W. P. Durand, ed., Julius Springer (Berlin), 1934. Fowler, R. H., Gallop, E. G., Lock, C. N. H., and Richmond, Ee Wet ‘The Aerodynamics of a Spinning Shell. Fhil. Trans. Roy. Soc. (London) A, vol. 221, 1920, pp. 295-387. Bolz, Ray E.: Dynamic Stability of a Miseile in Rolling Flight. Jour. Aero. Set., vol. 19, no. 6, June 1952, pp. 395-03. Nicolaides, John De: On the Free Flight Motion of Missiles Having Slight Configurational Asynnetries. Bellistics Research Leboratories Rep. No. 858, June 1953. Perkins, Courtland D., and Hage, Robert B.: Aeroplene Performance Stability end Control. John Wiley and Sons, Inc., 1949. Abmg, M. J+: Kinematics and Dynamics of Fully-Maneuvering Airplanes. Douglas Aircraft Co., Inc-, Bng- Dept. Rep. No. H5-161h4, June 1952. Campbell, John F., and McKinney, Marion 0.: Summary of Methods for Caleuleting Dynamic Lateral Stability and Response and for Retineting Lateral Stability Derivatives. NACA TN 2409, 1951. Zimmerman, Charlee H.: An Analysis of Longitudinel Stability in Power-Off Flight with Charts for Use in Design. NACA Rep. 521, 1935. Zimmerman, Charles H.: An Anslysis of Lateral Stability in Power-Ort Flight with Charts for Use in Design. NACA Rep. 589, 1937. Kelley, J. L., and McShane, E. J.: On the Motion of a Projectile with ‘Snell or Slowly Changing Yew. Ballistics Research Laboratories Rep. Wo. 6, Dec. 191k. Exterior McShane, Edward J., Kelley, Jobn L., and Reno, Franklin V. Ballistics. Univ. of Denver Presa, 1953. Mieleen, K. L., and Synge, J. L.: On the Motion of a Spinning Shell. Quert. Appl. Math., vol. IV, no. 3, Oet. 1946, pp. 201-226. Maple, C. G., and Synge, J. L.: Aerodynamte Symnetry of Projectiles. Quatt. Appl. Maths, vol. VI, no. lb, Jan. 1949, pp. 315-366. Phillips, William He: Befect of Steady Rolling on Longitudinel and Directional Stability. NACA TH 1627, 1948.NACA TN 3350 97 15. Pege, Leigh: Introduction to Theoretical Physics. Second ed., D. Ven Nostrend Co., Inc., New York, 1935. 16. Seif?, Alvin, James, Carlton 8., Canning, Thomas N., and Boissevain, ‘Alfred G.:” The Ames Supersonic Free-Flight Wind Tunnel. NACA RM AB2A2L, 1952. 17. Schmidt, L. E., and Marphy, C. H.: Bffect of Spin on Aerodynamic Properties of Bodies of Revolution. Ballistics Research Laboratories Meno. Rep. No. 715, Aug. 1953+ 18. Churchill, Ruel V.: Modern Operationel Mathematics in Engineering. McGraw-Hill Book Co., Inc., 19h. 19. Bolz, Ray E., and Nicolaides, John D-: A Method of Determining Sone ‘Aerodynamic Coefficients from Supersonic Free Flight Tests of a Rolling Missile. Ballistics Research Laboratories Rep. No. 7il, Dec 1949. 20. Karpov, Boris G.: The Accuracy of Drag Measurenents as a Function of Number and Distribution of Timing Stations. Ballistics Research Laboratories Rep. No, 656, Feb. 1948. 21. Turetexy, Raymond: Reduction of Spark Range Data, Ballistics Research Laboratories Rep. No. 68, Oct. 198,98 NACA TN 3350100 IN 3350 9g Vertical > SE (») Orientation of gravity veetor with respect to earth axes. Figure 1,- Continued,(c) Orientation of velocity vector with respect to stability axes. Figure 1.- Continued. iol