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Learning Objectives!
! Develop linear equations to describe small
perturbational motions"
! Apply to aircraft dynamic equations"
Reading:!
Flight Dynamics!
234-242, 255-266, 274-297, 321-325, 329-330!
Copyright 2014 by Robert Stengel. All rights reserved. For educational use only.!
http://www.princeton.edu/~stengel/MAE331.html! 1!
http://www.princeton.edu/~stengel/FlightDynamics.html!
How Is System
Response Calculated?"
2!
Integration Algorithms"
T
Numerical Integration:"
MATLAB Ordinary Differential Equation
Solvers"*
! Explicit Runge-Kutta
Algorithm"
! Adams-Bashforth-Moulton
Algorithm"
! Numerical Differentiation
Formula"
! Modied Rosenbrock
Method"
! Trapezoidal Rule"
* http://www.mathworks.com/access/helpdesk/help/techdoc/index.html?/access/helpdesk/help/techdoc/ref/ode23.html.!
Shampine, L. F. and M. W. Reichelt, "The MATLAB ODE Suite," SIAM Journal on Scientic Computing, Vol. 18, 1997, pp 41-22.!
!
Nominal and Actual Trajectories"
! Nominal (or reference) trajectory and
control history" x : dynamic state
u : control input
w : disturbance input
{x N (t), u N (t), w N (t)} for t in [t o ,t f ]
5!
9!
10!
Sensitivity to Disturbance
Perturbations, G"
" ! f1 ! f1 ! f1 %
$ ! w1 ! w2 ... ! ws '
$ '
!f $ ! f2 ! f2
...
! f2 '
L(t) = =$ ! w1 ! w2 ! ws '
! w u=uN (t ) $
x=x N (t )
'
w=w N (t ) ... ... ... ...
$ '
$ ! fn ! fn
...
! fn '
$# ! w1 ! w2 ! ws ' x=x N (t )
dim(L) = n ! s & u=uN (t )
w=w N (t )
11!
Scalar Example"
Actual System" x! ( t ) = ax ( t ) + bx 2 ( t ) + cu ( t ) + dw 3 ( t )
Numerical Example"
a = 1, b = 2, c = 3, d = 4
x! ( t ) = x ( t ) + 2x 2 ( t ) + 3u ( t ) + 4w 3 ( t )
Spring! Damper!
15! "
Linear and nonlinear responses are indistinguishable with small initial condition
16!
Linear, Time-Varying (LTV)
Approximation of
Perturbation Dynamics!
17!
Stiffening Linear-Cubic
Spring Example"
Nonlinear, time-invariant (NTI) equation"
x N (t)
!x(t)
x N (t)+ !x(t)
x(t)
x! N (t)
!!x(t)
x! N (t) + !!x(t)
x! (t) 20!
Suppose Nominal Initial Condition
is Zero"
Nominal solution remains at equilibrium"
x! N (t) = f[x N (t)], x N (0) = 0, x N (t) = 0 in [ 0, ! ]
21!
Separation of the!
Equations of Motion into
Longitudinal and Lateral-
Directional Sets!
22!
Rigid-Body Equations of
Grumman F9F!
! Rate of change of
! x1 $
u! = X / m ! g sin " + rv ! qw # & ! u $
Translational Velocity "
# x2 & # &
v! = Y / m + g sin # cos" ! ru + pw v
# & # &
! Rate of change of w! = Z / m + g cos # cos" + qu ! pv # x3 & # w &
Translational Position " # x4 & # x &
# & # &
x! I = ( cos! cos" ) u + ( # cos $ sin " + sin $ sin ! cos" ) v + ( sin $ sin " + cos $ sin ! cos" ) w
# x5 & # y &
y! I = ( cos! sin " ) u + ( cos $ cos" + sin $ sin ! sin " ) v + ( # sin $ cos" + cos $ sin ! sin " ) w
# x6 & # z &
z!I = ( # sin ! ) u + ( sin $ cos! ) v + ( cos $ cos! ) w # &=# &
# x7 & # p &
! Rate of change of
Angular Velocity
# x8 & ## q &
( { ( ) ( ) }) (
p! = I zz L + I xz N ! I xz I yy ! I xx ! I zz p + "# I xz2 + I zz I zz ! I yy $% r q I xx I zz ! I xz2 ) # & &
(Ixy = Iyz = 0) "
(
q! = "# M ! ( I xx ! I zz ) pr ! I xz p 2 ! r 2 )$% I yy # x9 & # r &
( }) # & # ' &
{ (
r! = I xz L + I xx N ! I xz I yy ! I xx ! I zz ) r + "# I ( ) (
+ I xx I xx ! I yy $% p q I xx I zz ! I xz2 ) x10 & #
2
xz
# &
(
! Rate of change of
# x11 & # &
Angular Position" !! = p + ( q sin ! + r cos ! ) tan " # & #" ) &%
"! = q cos ! # r sin ! #" x12 &%
$! = ( q sin ! + r cos ! ) sec " 23!
24!
Longitudinal Equations of Motion"
Dynamics of velocity, position, angular rate,
and angle primarily in the vertical plane"
x! I = ( cos! cos" ) u +
( # cos $ sin" + sin $ sin! cos" ) v + (sin $ sin" + cos $ sin! cos" ) w " x! 3 = f3
z!I = ( # sin ! ) u + ( sin $ cos! ) v + ( cos $ cos! ) w " x! 4 = f4
x! Lon (t) = f[x Lon (t), u Lon (t), w Lon (t)] 25!
Lateral-Directional
Equations of Motion"
Dynamics of velocity, position, angular rate,
and angle primarily out of the vertical plane"
v! = Y / m + gsin ! cos" # ru + pw " x! 7 = f7
y! I = ( cos" sin$ ) u + ( cos ! cos$ + sin ! sin " sin$ ) v +
( # sin ! cos$ + cos ! sin" sin$ ) w " x!8 = f8
( { ( ) ( ) })
p! = I zz L + I xz N ! I xz I yy ! I xx ! I zz p + "# I xz2 + I zz I zz ! I yy $% r q ( I xx I zz ! I xz2 ) " x!9 = f9
( { ( ) (
r! = I xz L + I xx N ! I xz I yy ! I xx ! I zz r + "# I xz2 + I xx I xx ! I yy )$% p} q ) ( I I ! I xz2 ) " x!10 = f10
xx zz
" %
FLon FLat!Dir
Lon
F = $ Lat!Dir '
$ FLon FLat!Dir '&
#
Effects of longitudinal perturbations Effects of lateral-directional perturbations
on lateral-directional motion" on lateral-directional motion"
27!
# ! f1 ! f1 ! f1 ! f1 ! f1 ! f1
&
% !" E !" T !" F !" A !" SF (
!" R
% (
% ! f2 ! f2 ! f2 ! f2 ! f2 ! f2 (
G(t) = % !" E !" T !" F !" A !" R !" SF (
% ... ... ... ... ... ... (
% !f ! f12 ! f12 ! f12 ! f12 ! f12 (
12
%
$ !" E !" T !" F !" A !" R !" SF ('
G = $ Lat!Dir '
$ G Lon G Lat!Dir '&
#
Effects of longitudinal controls Effects of lateral-directional controls 28!
on lateral-directional motion" on lateral-directional motion"
Sensitivity to Small
Disturbance Inputs"
! Disturbance input vector and perturbation "
! uw (t) $ Axial wind, m / s
# &
# ww (t) & Normal wind, m / s " !uw (t) %
# qw (t) & Pitching wind shear, deg / s or rad / s $ '
w(t) = # & $ !ww (t) '
# vw (t) & Lateral wind, m / s
# &
$ !qw (t) '
pw (t) & Rolling wind shear, deg / s or rad / s !w(t) = $ '
# $ !vw (t) '
# rw (t) & Yawing wind shear, deg / s or rad / s $ '
" %
$ !pw (t) '
! Four (6 x 3) blocks distinguish longitudinal $ !rw (t) '
and lateral-directional effects " # &
Effects of longitudinal disturbances Effects of lateral-directional
on longitudinal motion" disturbances on longitudinal motion"
" %
L Lon LLon
L = $ Lat!Dir
Lat!Dir '
Decoupling Approximation
for Small Perturbations
from Steady, Level Flight!
30!
Restrict the Nominal Flight Path
to the Vertical Plane"
Nominal State Vector!
! Nominal lateral- x! Lat ! DirN = 0
directional motions ! x1 $
are zero" x Lat ! DirN = 0 # & ! u $
# x2 & # N &
# & # wN &
u! N = X / m ! g sin " N ! qN wN x3 & # &
# xN
#
w! N = Z / m + g cos" N + qN u N # x4 & &
# & # zN &
! Nominal x5 &
longitudinal x! I N = cos " N u N + sin " N wN
# &
( ) ( ) #
# qN &
equations
# x6 & ! x Lon $ # &
reduce to" z!I N = ! sin " N u N + cos" N wN
( ) ( ) # & =# & = (N
x7 & #" x Lat'Dir &% # &
#
N # 0
M # x8 &
&
q! N = # & # 0 &
I yy x9 & # &
# 0
#
# & &
"!N = qN # x10 & # 0 &
# x11 & # 0 &
# &
# &
x12 &% " 0 %
#" N
31!
33!
(6 x 6) LTI Longitudinal"
Perturbation Model"
Dynamic Equation"
!!x Lon (t) = FLon !x Lon (t) + G Lon !u Lon (t) + L Lon !w Lon (t)
State Vector"
Control " Disturbance"
" !x1 % " !u % Vector" Vector"
$ '
$ !x2 ' $ '
$ !w ' # !" T & " !uwind %
$ !x3 ' $ '
!x Lon =$ ' = $ !x ' !u Lon = %% !" E (( !w Lon = $ !wwind '
$ !z ' $ !q '
$ !x4 '
$ ' %$ !" F (' # wind
&
$ '
$ !x5 ' $ !q '
$ !( '
$ !x6 ' # &
# & Lon
34!
LTI Longitudinal"
Response to Initial Pitch Rate"
35!
(6 x 6) LTI Lateral-Directional
Perturbation Model"
Dynamic Equation"
!!x Lat " Dir (t) = FLat " Dir !x Lat " Dir (t) + G Lat " Dir !u Lat " Dir (t) + L Lat " Dir !w Lat " Dir (t)
State Vector"
Control " Disturbance"
#
%
!x1 &
(
# !v & Vector" Vector"
!x2 ( % (
% % !y ( " !vwind %
% !x3 ( % !p ( $ !# A '
$ '
!x Lat " Dir =% ( =% ( !u Lat " Dir = && !# R )) !w Lon = $ !pwind '
% !x4 ( % !r (
% ( &% !# SF )( $ !r
# wind
'
&
!x5 ( % !) (
% % (
% !x6 ( !* ('
$ ' Lat " Dir %$
36!
LTI Lateral-Directional Response
to Initial Yaw Rate"
37!
Next Time:!
Longitudinal Dynamics!
Reading:!
Flight Dynamics!
452-464, 482-486!
Airplane Stability and Control!
Chapter 7!
!
38!
Supplemental
Material
39!
! Numerically"
! First differences in f(x,u,w)"
! Analytically"
! Symbolic evaluation of analytical
models of F, G, and L"
40!
Numerical Estimation of the
Jacobian Matrix, F(t)"
$ ( x + #x ) ' $ ( x * #x ) ' $ x1 ' $ x1 '
& 1 1
) & 1 1
) & ) & )
& x2 ) & x2 ) & ( x + #x2 ) ) & ( x2 * #x2 ) )
f1 & ) * f1 & ) f1 & 2 ) * f1 & )
& ! ) & ! ) & ! ) & ! )
&% xn )( &% xn )( x=x N (t ) &% xn )( &% xn )( x=x N (t )
! f1 u=u N (t )
! f1 u=u N (t )
(t ) " w=w N (t )
; (t ) " w=w N (t )