Our Equations

Rigid-Body Team of Motion

in body-axes frame

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Klein, V., and Morelli, E. A., Aircraft System Identification, AIAA Education Series, 2006
 Our Equations
Rigid-Body Team of Motion

in wind-axes frame

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Klein, V., and Morelli, E. A., Aircraft System Identification, AIAA Education Series, 2006
 Our Team
Output Equations
Output variables:

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Aerodynamic Force and Moment Coefficients
Cant be measured directly in flight, but instead must be computed from other
measurements (accelerators, gyros, air data)
 Our Team
Aerodynamic Model Equations
Based on dimensional analysis,

In wind tunnel testing,

For full-scale conventional airplane in quasi-steady flow at low Mach number,

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 Our Team
Aerodynamic Model Equations Linear Model
Linear Taylor series expansion:

at steady-state flight, quasi-steady flow

only valid for small perturbations

6
Lewis, F. L., Stevens, B.L., Aircraft Control and Simulation, John Wiley & Sons, 1992, pp. 90-91
 Aerodynamic Model Equations Linear Model
Simplified for each of longitudinal, lateral/directional modes:

Body-axes frame Wind-axes frame

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 Our Team
Aerodynamic Model Equations Linear Model
Using non-dimensional aerodynamic coefficients

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Klein, V., and Morelli, E. A., Aircraft System Identification, AIAA Education Series, 2006, pp. 50-51
Aerodynamic Model Equations Linear Model
Stability and Control Derivatives
c
C X C X o C X C X f f C X e e C X C Xq q C X M M a
2Vo
b
CY CYo CY Cr r CY r i vY b
2Vo r

c
C Z C Z o C Z C Z f f C Z e e CZ CZq q CZ M M c
2Vo
c
Cm Cmo Cm Cm f f Cm e e Cm Cmq q CmM M d
2Vo
b b
Cl Clo Cl Cl p p Clr r Cl a vl e
2Vo 2Vo a

b b
Cn Cno Cn Cn p p Cnr r Cn a Cn r r vn f
2Vo 2Vo a
 Our Equations
Aerodynamic Model Team Nonlinear Model
valid for large perturbations or rapid excursions from the reference flight condition
Method 1: High-order Taylor series expansion

Method 2: Based on wind tunnel and flight-testing experience

Polynomial representation Spline representation10

 OurtheTeam
Simplifying Equations of Motion

A/C EOM are a set of COUPLED nonlinear

differential equations x f ( x,u)

Linearized equations x Ax Bu
DECOUPLE into 2 independent sets:

1. Longitudinal motion in the plane of

symmetry (V, , q, )
2. Lateral motion out of the plane of symmetry
(, p, r, )

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Lewis, F. L., Stevens, B.L., Aircraft Control and Simulation, John Wiley & Sons, 1992, pp. 156
 Linearization
Apply small perturbations from the steady, wings-level flight condition

Notes:

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Linearized Model

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 Example: F-16 model
Coupled model Uncoupled model
Longitudinal mode

Lateral-directional modes

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 Example: Boeing 747 model

Phugoid mode Short-period mode

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Etkin, B., Reid L. D., Dynamics of Flight: Stability and Control, 3rd Edition, John Wiley & Sons, 1996, pp. 165-168