ME 570 Dynamics of Aerospace Vehicles Fall 2018

Rotational Equations of Motion

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 1

 ME 570 Dynamics of Aerospace Vehicles Fall 2018

Conservation of Rotational Momentum

• The overall motion of an aerospace vehicle can be grouped in two as;
Translational and Rotational Motion.

• Rotational Motion is mainly the change of the attitude and angular

velocity of the aerospace vehicle with respect to an inertial reference
frame.

• Under the dictation of preservation of momentum principles, angular

momentum and its derivative is used to derive the equations of
rotational motion.
Euler Equation
 
DH ( h )  M
Differentiation Total Moment
Operator Vector
Angular
Momentum H: Any Inertial Reference Frame
Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 2
ME 570 Dynamics of Aerospace Vehicles Fall 2018

BODY Reference Frame and INERTIAL Reference Frame

yD

xD Fb

V
BODY

zD
yD
zI
xD

FD Geodetic (NED) ECI

xI FI
Earth’s Surface zD yI

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 3

ME 570 Dynamics of Aerospace Vehicles Fall 2018

Mass Element and Position Vector

BODY

rP / b

rb / I

rP / I

FI

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 4

ME 570 Dynamics of Aerospace Vehicles Fall 2018

Main Assumptions

• The origin of the BODY Reference System is the center of mass.

• The aircraft (A/C) is assumed to be rigid.

 
rP / b  0

• The aircraft (A/C) mass is assumed to be c+.

d  
   A dV   m  0
dt V 
• The mass distribution of the aircraft (A/C) is assumed to be c+.

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 5

 ME 570 Dynamics of Aerospace Vehicles Fall 2018

Conservation of Rotational Momentum

d   d      
  rP / I  (  A (rP / I ) dV )   rP / I  (  A g dV )   rP / I  ( F dS )
dt V dt  V S

d  d   d d 
LHS   (rP / I )  (  A (rP / I ) dV )   rP / I  (  A (rP / I ) dV )
V
dt dt V
dt dt

d  d  
(rP / I )  (rP / I )  0
dt dt

  d d 
LHS   (rP / b  rb / I )  (  A (rP / I ) dV )
V
dt dt

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 6

 ME 570 Dynamics of Aerospace Vehicles Fall 2018

Conservation of Rotational Momentum

  d d 
LHS   (rP / b  rb / I )  (  A (rP / I ) dV )
V
dt dt
 d d   d d 
LHS   rb / I  (  A (rP / I ) dV )   rP / b  (  A (rP / I ) dV )
V
dt dt V
dt dt
   
RHS   rP / I  (  A g dV )   rP / I  ( F dS )
V S

     
RHS   (rP / b  rb / I )  (  A g dV )   (rP / b  rb / I )  ( F dS )
V S

      
RHS  rb / I  (   A g dV   F dS )   rP / b  (  A g dV )   rP / b  ( F dS )
V S V S

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 7

 ME 570 Dynamics of Aerospace Vehicles Fall 2018

Conservation of Rotational Momentum

 d d   d d 
LHS  rb / I  (  (  A (rP / I ) dV ))   rP / b  (  A (rP / I ) dV )
V
dt dt V
dt dt

      
RHS  rb / I  (   A g dV   F dS )   rP / b  (  A g dV )   rP / b  ( F dS )
V S V S

d  d    
dt V
Conservation of Translational Momentum:   A (rP / I ) dV     A g dV   F dS
dt  V S

 d d     
V rP / b  dt (  A dt (rP / I ) dV )  V rP / b  (  A g dV )  S rP / b  ( F dS )
  
Moments w.r.t. CG are zero:  rP / b  A dV  ( g )  0
V

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 8

ME 570 Dynamics of Aerospace Vehicles Fall 2018

Conservation of Rotational Momentum

 d d   
V rP / b  dt (  A dt (rP / I ) dV )  S rP / b  ( F dS )
 d d 
LHS   rP / b  (  A (rP / I ) dV )
V
dt dt

 d d   d d 
LHS   rP / b  (  A (rb / I ) dV )   rP / b  (  A (rP / b ) dV )
V
dt dt V
dt dt

 d d  
V rP / b  AdV  dt ( dt (rb / I ) )  0 Moments w.r.t. CG are zero.

 d d   
V rP / b  dt (  A dt (rP / b ) dV )  S rP / b  ( F dS )
Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 9
 ME 570 Dynamics of Aerospace Vehicles Fall 2018

Conservation of Rotational Momentum

 d d   
V rP / b  dt (  A dt (rP / b ) dV )  S rP / b  ( F dS )
 d     
V rP / b  dt (  A (rP / b  b / I  rP / b ) dV )  S rP / b  ( F dS )
 d     
V rP / b   A dt ( rP / b  b / I  rP / b ) dV  S rP / b  ( F dS )
        
LHS   rP / b   A ( rP / b  2b / I  rP / b  b / I  rP / b  b / I  (b / I  rP / b )) dV

V
   
Rigid body assumption: rP / b  0 rP / b  0

       
V
 rP / b   A ( b / I  rP / b  b / I  (b / I  rP / b )) dV   rP / b  ( F dS )
S

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 10

ME 570 Dynamics of Aerospace Vehicles Fall 2018

Conservation of Rotational Momentum

       
V
 rP / b   A ( b / I  rP / b  b / I  (b / I  rP / b )) dV   rP / b  ( F dS )
S

          
A  ( B  C )  B( A.C )  C ( A.B) M A  MT
      A: Aerodynamic
rP / b   A ( (b / I  rP / b )  b / I  (b / I  rP / b ))  T: Thrust
     
 Ab / I (rP / b .rP / b )   A rP / b (rP / b .b / I )  ...
       
 A rP / b  b / I (b / I . rP / b )   A rP / b  rP / b (b / I .b / I )
  
rP / b  rP / b  0
         
 Ab / I (rP / b .rP / b )   A rP / b (rP / b .b / I )   A rP / b  b / I (b / I . rP / b )

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 11

ME 570 Dynamics of Aerospace Vehicles Fall 2018

Rotational Equations of Motion

 
Define: rP / b .rP / b  x 2P  y 2P  z 2P
 
b / I . rP / b  px P  qy P  rz P
 
rP / b .b / I  p x P  qy P  rz P

Moments and Products of Inertia

J xx   ( y 2P  z 2P )  A dV J yx  J xy   ( x P y P )  A dV
V V

J yy   ( x 2P  z 2P )  A dV J zx  J xz   ( x P z P )  A dV
V V

J zz   ( x 2P  y 2P )  A dV J zy  J yz   ( y P z P )  A dV
V V

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 12

ME 570 Dynamics of Aerospace Vehicles Fall 2018

Rotational Equations of Motion

     
Vector Notation: J b / I   b / I  ( J b / I )  M A  M T

Column Matrix Notation:  b(/bI)  Jˆ 1 ( M A  M T  ~b(b/ I) Jˆ b(/bI) )

 p
STATES OF ROTATIONAL MOTION: b(/bI)   q 
 r 

 M Tx   M Ax   J xx J xy J xz 
     
DRIVING TERMS: M T(b )   M Ty  M A   M Ay 
(b )
Ĵ   J yx J yy J yz 
 M Tz   M Az   J zx J zy J zz 

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 13
 ME 570 Dynamics of Aerospace Vehicles Fall 2018

Rotational Equations of Motion

 b(/bI)  Jˆ 1 (M A  M T  ~b(b/ I) Jˆ b(/bI) )

 p    M Ax   M Tx   0  r q   p
 q   Jˆ 1   M    M    r 0

 p  Jˆ  q  
    Ay   Ty  
 r    M Az   M Tz   q p 0   r  

 J xx p  J xz (r  pq )  J yz (q 2  r 2 )  J xy (q  rp )  ( J zz  J yy )rq   M Ax   M Tx 

 2  M   M 
 J yy q  ( J xx  J zz ) pr  J xy ( 
p  qr )  J yz ( 
r  pq )  J xz ( p 2
 r ) 
  Ay   Ty 
 J zz r  J xz ( p  qr )  J xy ( p 2  q 2 )  J yz (q  rp )  ( J yy  J xx ) pq   M Az   M Tz 
 

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 14

ME 570 Dynamics of Aerospace Vehicles Fall 2018

Rotational Equations of Motion

In general the A/C’s are symmetric w.r.t. x - z plane:

 J xx 0 J xz 
Jˆ   0 J yy 0 
 J xz 0 J zz 

 J xx p  J xz (r  pq )  ( J zz  J yy )rq   M Ax   M Tx 
 2  M   M 
J
 yy q  ( J xx  J zz ) pr  J xz ( p 2
 r ) 
  Ay   Ty 
 J zz r  J xz ( p  qr )  ( J yy  J xx ) pq   M Az   M Tz 
 

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 15

ME 570 Dynamics of Aerospace Vehicles Fall 2018

Rotational Equations of Motion

In general the missiles have rotational symmetry:

 J xx 0 0
Jˆ   0 J yy 0  J yy  J zz
 0 0 J zz 

 J xx p  ( J yy  J yy )rq   M Ax   M Tx 
     M 
J
 yy q  ( J xx  J yy ) pr  M
  Ay   Ty 
 J zz r  ( J yy  J xx ) pq   M Az   M Tz 
 

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 16

ME 570 Dynamics of Aerospace Vehicles Fall 2018

Rotational Equations of Motion

In general the missiles have rotational symmetry:

 J xx 0 0 
 
Jˆ   0 J yy 0 
0 0 J yy 


 p   M Ax / J xx  M Tx / J xx 
 q    M / J  M / J  pr ( J  J ) / J 
   Ay yy Ty yy xx yy yy 

 r   M Az / J yy  M Tz / J yy  pq ( J yy  J xx ) / J yy 

Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 17

ME 570 Dynamics of Aerospace Vehicles Fall 2018

Euler Angles and Transformation Matrix

𝑢3𝐷=𝐼 𝑢21 𝑢12

FD=I F1 F2 Fb
  

Cˆ ( D  I ,b )  Rˆ 3 ( ) Rˆ 2 ( ) Rˆ1 ( )

cos  sin 0  cos  0 sin   1 0 0 

Rˆ3 ( )   sin cos 0 Rˆ 2 ( )   0 1 0  Rˆ1 ( )  0 cos   sin  
 0 0 1  sin  0 cos   0 sin  cos  

cc css  sc csc  ss 

Cˆ ( D  I ,b )   sc sss  cc ssc  cs 
s: sine
  s cs cc  c: cosine
t: tangent
Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 18
ME 570 Dynamics of Aerospace Vehicles Fall 2018

Angular Velocity Components and Euler Angle Rates

 p  1 0  s    
 
b(/bI)   q   0 c 
c s   
 r  0  s c c   
1
   1 0  s   p
  
   0 c c s  q
 
  0  s c c   r 
 
    p  q s t  r c t 
   

    q c  r s  s: sine
   q s / c  r c / c 
  c: cosine
t: tangent
Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 19
ME 570 Dynamics of Aerospace Vehicles Fall 2018

Summary – Rotational Equations of Motion

DYNAMIC EQUATIONS – FOR A SYMMETRIC MISSILE

IC’s
 p   M Ax / J xx  M Tx / J xx   p (t  0)
 q    M / J  M / J  pr ( J  J ) / J   q (t  0) 
   Ay yy Ty yy xx yy yy   
 r   M Az / J yy  M Tz / J yy  pq( J yy  J xx ) / J yy   r (t  0) 

 M Ax (t )   M Tx (t )   p (t ) 
   M (t )  q (t ) 
DRIVING TERMS:  M Ay (t )  Ty   
 M Az (t )   M Tz (t )   r (t ) 

s: sine
c: cosine
t: tangent
Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 20
ME 570 Dynamics of Aerospace Vehicles Fall 2018

Summary – Rotational Equations of Motion

KINEMATIC EQUATIONS

IC’s
    p  q s t  r c t    (t  0) 
     (t  0) 

    q c  r s   
   q s / c  r c / c   (t  0)
 
 p (t ) 
 
DRIVING TERMS: q (t )
 
 r (t ) 

s: sine
c: cosine
t: tangent
Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 21
ME 570 Dynamics of Aerospace Vehicles Fall 2018

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Bilkent University – Dept. of Mechanical Engineering Dr. Özgür Ateşoğlu 22