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Frequency Response!
Copyright 2014 by Robert Stengel. All rights reserved. For educational use only.!
http://www.princeton.edu/~stengel/MAE331.html!
http://www.princeton.edu/~stengel/FlightDynamics.html!
1!
2!
3!
Fourier Transform of a
Scalar Variable"
% !x(t)e
# j" t
#$
A : amplitude
! : phase angle
= A(" )e j# (" )
4!
Fourier Transform of a
Scalar Variable"
!x(t)
5!
Laplace Transform of
a Scalar Variable"
s = ! + j"
6!
Laplace Transformation is a
Linear Operation"
Sum of Laplace transforms!
L [ !x1 (t)+ !x2 (t)] = L [ !x1 (t)] + L [ !x2 (t)] = !x1 (s)+ !x2 (s)
Multiplication by a constant!
Laplace Transforms of
Vectors and Matrices"
8!
Laplace Transform of
a Dynamic System"
System equation!
dim(!x) = (n " 1)
dim(!u) = (m " 1)
dim(!w) = (s " 1)
Laplace Transform of
a Dynamic System"
Rearrange Laplace transform of dynamic equation!
F to left, I.C. to right!
!x(s) = [ sI " F]
"1
Matrix Inverse"
Forward"
Inverse"
y = Ax; x = A !1y
[A]
!1
Adj( A ) Adj( A )
=
=
A
det A
dim(x) = dim(y) = (n ! 1)
dim(A) = (n ! n)
(n " n)
(1 " 1)
C
; C = matrix of cofactors
det A
T
A = a; A !1 =
! a11 a12
A=#
#" a21 a22
! a22 'a21 $
! a22 'a12 $
&
&
#
#
'a12 a11 &
'a21 a11 &
$
#
#
%
%
"
"
& ; A '1 =
=
a11a22 ' a12 a21
a11a22 ' a12 a21
&%
T
dim(A) = (3 ! 3)
! a11 a12
#
A = # a21 a22
# a
a
" 31 32
1
a
dim(A) = (2 ! 2)
a13
a23
a33
1
= 0.2
5
! 4 '2 $
#
&
! 1 2 $
1 $
" '3 1 % = ! '2
'1
;
A
A=#
=
&
#
&
'2
" 3 4 %
" 1.5 '0.5 %
! '30 18
4 $
#
&
# 20 '15 5 & ! '3 1.8
! 1 2 3 $
0.4 $
4 '2 %& #
#" 0
#
&
&
'1
A = # 4 6 7 &; A =
= # 2 '1.5 0.5 &
10
#" 8 12 9 &%
#" 0 0.4 '0.2 &%
13!
[ sI ! F ]
SP
[ sI ! F ]
!1
SP
(2 # 2)
(1# 1)
14!
For example,
nqq ( s ) = k ( s ! z )
15!
&
(
(
'
(2 ) 2)
(1) 1)
!x(s) =
( 2 # 1)
16!
Initial Condition
Response in
Frequency Domain "
# !q(t)
!
%
%$ !"! (t)
#
Mq
& %
( = % * Lq (' % ,+ 1) V /.
N
$
M"
)
L"
VN
&
( # !q(t) &
(,
(%
!
"
(t)
%
('
($
'
# !q(0) &
%
( given
%$ !" (0) ('
# !q(s) &
# !q(0) &
)1
%
( = [ sI ) FSP ] %
(
"
(s)
"
(0)
!
!
%$
('
%$
('
17!
H (s) = H x [ sI ! F ] G
!1
( r ! n )( n ! n )( n ! m )
= (r ! m)
18!
x! ( t ) = fx ( t ) + gu ( t )
y ( t ) = hx ( t )
y ( s)
hg
!1
= H (s) = h [ s ! f ] g =
u ( s)
(s ! f )
(n = m = r = 1)
19!
! x! ( t )
1
x! ( t ) = #
# x!2 ( t )
"
$ ! f
& = # 11
& #" f21
%
! y (t )
1
y (t ) = #
# y2 ( t )
"
f12 $ ! x1 ( t )
&#
f22 & # x2 ( t )
%"
$ ! h
h
& = # 11 12
& #" h21 h22
%
$ ! g $
& + # 1 & u (t )
& #" g2 &%
%
$ ! x1 ( t )
&#
&% #" x2 ( t )
$
& +"
&
%
H(s) = H x ( sI ! F )
!1
" h
h
( s ) G = $ 11 12
$# h21 h22
( r ! n )( n ! n )( n ! m )
= (r ! m) = (2 ! 2)
" (s ! f )
11
adj $
$ ! f21
%
#
'
( (s ! f )
'&
11
det *
*) ! f21
! f12
( s ! f22 )
! f12
( s ! f22 )
%
'
'
&
+
-,
" g1 %
$
'
$# g2 '&
20!
! f12
( s ! f22 )
( s ! f11 )
! f12
% " (s ! f )
22
'=$
' $
f21
& #
f12
( s ! f11 )
%
'
'
&
%
' = ( s ! f11 ) ( s ! f22 ) ! f12 f21
'&
( s ! f22 )
= s 2 ! ( f11 + f22 ) s + ( f11 f22 ! f12 f21 )
! f21
! s 2 + 2() n s + ) n2 ! * ( s )
21!
"
&
&
&
H(s) = #
"
&
&
&
=#
!1
" h11
( s)G = $
h12
$# h21 h22
" (s ! f )
f12
22
$
f21
( s ! f11 )
%$
#
'
s 2 + 2() n s + ) n2
'&
%
'
'" g %
&$ 1 '
$# g2 '&
"# h11 ( s ! f22 ) + h12 f21 $% g1 + "# h11 f12 + h12 ( s ! f11 ) $% g2 $
'
"# h21 ( s ! f22 ) + h22 f21 $% g1 + "# h21 f12 + h22 ( s ! f11 ) $% g2 '
'%
2
2
s + 2() n s + ) n
22!
"# h11 ( s ! f22 ) + h12 f21 $% g1 + "# h11 f12 + h12 ( s ! f11 ) $% g2 $
'
"# h21 ( s ! f22 ) + h22 f21 $% g1 + "# h21 f12 + h22 ( s ! f11 ) $% g2 '
'%
2
2
s + 2() n s + ) n
" k (s ! z ) %
1
$ 1
'
$ k 2 ( s ! z2 ) '
&
! #2
s + 2() n s + ) n2
23!
# !q! ( t )
!!x SP ( t ) = %
% !"! ( t )
$
#
Mq
& %
()% + L
.
( % - 1* q V 0
'
,
N/
$
M"
*
L"
VN
&
( # !q ( t )
(%
( %$ !" ( t )
'
& # M1 E
( + % *L
1E
( %
VN
' %$
&
(
( !1 E ( t )
('
)
s ! Mq
+
=+ # L
&
+ ! % 1! q V (
N'
+* $
!M "
s+
L"
VN
,
.
.
.
.-
-1
) M/ E
+
+ !L/ E
VN
+*
24!
,
.
.
.-
H SP (s) = [ sI ! FLon ] G SP
!1
,
)
L"
M
s
+
. ) M/ E
+
"
VN
.+
+
. + !L/ E
+ # Lq &
VN
+ %$ 1! VN (' s ! M q . +*
=*
# L
L
&
s ! M q s + " V ! M " % 1! q V (
$
N
N'
)(
25!
$
L"
L! E M " '
&% M ! E s + VN #
VN )(
)
( )
$
L
L M
$
'
M! E &s + " V # ! E " V M )
&
N
N
!E (
%
&
&
0 $ VN M ! E * Lq '4
& # L! E
s
+
1#
#
M
1
,
/
q )5
VN 3 & L
VN .
+
&
!E
%
( 63
2
%
7 SP ( s )
'
)
)
)
)
)
(
26!
,
.
.
.-
&
(
(
(
(
('
27!
(
)
L
L M
%
(
M"E 's + # V $ "E # V M *
k q s $ zq
!q(s)
N
N
"E )
&
=
= 2
2
Lq .
!" E(s)
%
+
L# ( s + 21 SP2 nSP s + 2 nSP
L#
2
s + $M q + V s $ ' M # - 1 $ V 0 + M q V *
,
N
N/
N)
&
L# E
28!
Time !
Domain!
Frequency !
Domain!
!x(s) = L [ !x(t)] = L #$ " ( t,0 ) !x(0) %& = L #$ " ( t,0 ) %& !x(0)
29!
30!
"
$
$
$
$
$
#
%
'
'
'"
%
' $ !x1 ( 0 ) '
' $ !x ( 0 ) '
&
2
'
$
!
'
$
$ !xn ( 0 ) '
&
#
31!
n21 ( s )
n (s)
n (s)
!x1 (0) + 22
!x2 (0) +!+ 2n
!xn (0)
! (s)
! (s)
! (s)
"
p2 ( s )
! (s)
32!
!xi (s) =
pi ( s )
! (s)
$ d1
d2
dn '
=&
+
+!
, i = 1,n
)
s
"
#
s
"
#
s
"
#
( 2 ) ( n )( i
%(
1)
d j = s ! "j
pi ( s )
,
# ( s ) s="
j = 1,n
33!
34!
Airspeed!
Pitch Rate!
Angle of Attack!
35!
36!
Characteristic Polynomial
of a LTI Dynamic System"
!x(s) = [ sI " F ]
"1
[ sI ! F]
!1
Adj ( sI ! F )
(n x n)
sI ! F
37!
! Real root!
!i = " i
!i = " i + j# i
! = " i # j$ i
*
i
s Plane!
Positive real part
indicates instability"
39!
!(s) = $%( s " #1 )!( s " #6 )&'long $%( s " #1 )!( s " #6 )&'lat"dir = 0
40!
Lateral-Directional Modes of
Motion in Steady, Level Flight"
= ( s " #CR ) ( s " # Head ) ( s " #S ) ( s " # R ) $%( s " # DR ) ( s " # * DR ) &'
5 modes of motion (typical)!
! LD (s) = ( s " #CR ) ( s " # Head ) ( s " #S ) ( s " # R ) s 2 + 2$ DR% nDR s + % n2DR = 0
Crossrange"
Heading"
Spiral"
Roll"
Dutch Roll"
41!
= ( s " # R ) ( s " # H ) $%( s " # P ) ( s " # *P ) &' $%( s " #SP ) ( s " # *SP ) &'
Real"
Real"
Complex"
Complex"
Complex"
)(
Complex"
Height"
Phugoid"
Short Period"
42!
( s ! "P )( s ! " *P )
= %& s ! (# P + j$ P ) '( %& s ! (# P ! j$ P ) '(
= s 2 + 2) P$ nP s + $ n2P
! : Damping ratio, -
43!
= H x [ sI " F ] G + H u !u(s)
"1
44!
Longitudinal Transfer
Function Matrix"
"
$
$
$
$#
1
0
0
0
0
1
0
0
0
0
1
0
0
0
0
1
"
%$
'$
'$
'$
'& $
$
#
T* T
+ Lon ( s )
L* F / VN
!L* F / VN
%
'
'
'
'
'
&
45!
Longitudinal Transfer
Function Matrix"
)(
46!
Longitudinal Transfer
Function Matrix"
! Input-output relationship!
$
&
&
&
&
&%
!V (s) '
$ !* E(s) '
)
!" (s) )
)
&
= HLon (s) & !* T (s) )
)
!q(s)
& !* F(s) )
)
(
%
!# (s) )(
47!
48!
Hargrave quadraplane
(model), 1889"
DEquevillery, 1908"
49!
Phillips, 1904"
Wight
Quadraplane,
1916 "
Phillips, 1907"
Pemberton-Billings
Nighthawk, 1916"
50!
51!
52!
q
q"1
nij (s) kij s + bq"1s + ...+ b1s + b0
H ij (s) =
=
!(s)
( s n + cn"1s n"1 + ...+ c1s + c0 )
# zeros = q!
# poles = n"
53!
nij (s)
!yi ( s ) = kij
!u j ( s )
!(s)
54!
Bode Plot!
(Frequency Response of a
Scalar Transfer Function)!
55!
H ij (j! ) =
ij
56!
kq ( j" $ zq )
!q( j" )
=
2
!# E( j" ) $" + 2% SP" nSP j" + " n2SP
= ARq (" ) e
j&q (" )
Angle-of-attack frequency
response"
k" ( j# % z" )
!" ( j# )
=
!$ E( j# ) %# 2 + 2& SP# nSP j# + # n2SP
= AR" (# ) e j'" (# )
57!
kq ( j# % zq )
"q( j# )
j' (# )
=
= ARq (# ) e q
2
2
"$E( j# ) %# + 2& SP# n SP j# + # n SP
AR(dB) =
# zeros = 1!
# poles = 2"
20 dB = factor of 10!
Products in original units
are sums in decibels!
58!
# zeros = 1!
# poles = 2"
y ( t ) = h ! u ( t ) dt
0
H( j" ) =
1
j"
H( j" ) =
10
j"
du ( t )
dt
H ( j! ) = j!
H( j" ) = 10 j"
Sign Change"
Integral!
y (t ) = !h " u (t ) dt
0
H ( j! ) = "
h
j!
Derivative!
y (t ) = !h
du (t )
dt
H ( j! ) = " j!
63!
y (t ) = h !
! u (t ) dt
0 0
H ( j! ) =
h
2
( j! )
Double Derivative!
d 2 u (t )
y (t ) = h
dt 2
H ( j! ) = h ( j! )
64!
AR Asymptotes change at
frequencies corresponding to
poles and zeros"
kq j" $ zq
!q( j" )
=
2
!# E( j" ) $" + 2% SP" nSP j" + " nSP 2
j2# SP!
2
nSP
"j
1
=
e 90 for positive # SP
2
2
2# SP! nSP 2# SP! nSP
65!
10
( j! +10)
H blue ( j! ) =
100
( j! +10)
H green ( j! ) =
100
( j! +100)
66!
67!
10 2
2
( j! ) + 2 (0.1) (10) ( j! ) +10 2
Effect of
Damping Ratio!
H blue ( j! ) =
10 2
( j! ) + 2 (0.4 ) (10) ( j! ) +10 2
2
H red ( j! ) =
10 2
( j! ) + 2 (0.707) (10) ( j! ) +10 2
2
68!
10 2
2
( j! ) + 2 (0.1) (10) ( j! ) +10 2
H green ( j! ) =
10 3
2
( j! ) + 2 (0.1) (10) ( j! ) +10 2
H blue ( j! ) =
100 2
( j! ) + 2 (0.1) (100) ( j! ) +100 2
2
69!
! Height of resonant
peak depends on
damping ratio"
70!
! Abruptness of phase
shift depends on
damping ratio"
71!
asymp.m"
72!
+40 "
dB/dec"
0"
dB/dec"
+20 "
dB/dec"
20 "
dB/dec"
73!
Frequency
Response AR
Departures in the
Vicinity of Poles"
! Difference between
actual amplitude ratio
(dB) and asymptote =
departure (dB)"
! Results for multiple roots
are additive"
! Zero departures have
opposite sign"
McRuer, Ashkenas, and
Graham, Aircraft Dynamics
and Automatic Control,
Princeton University Press,
1973"
74!
Phase Angle
Variations in the
Vicinity of Poles"
! Results for multiple
roots are additive"
! LHP zero variations
have opposite sign"
! RHP zeros have same
sign"
McRuer, Ashkenas, and
Graham, Aircraft Dynamics
and Automatic Control"
75!
ConsolidatedVultee 111,
1940s"
76!
77!
Aeromobil, 2014"
78!
Terrafugia Transition"
Jaguar F Type!
PLUS"
79!
Next Time:!
Root Locus Analysis!
Reading:!
Flight Dynamics!
357-361, 465-467, 488-490,
509-514!
80!
Supplementary
Material
81!
! Longitudinal characteristic
equation has 6 eigenvalues"
! 4 eigenvalues normally
appear as 2 complex pairs"
! Range and height modes
usually inconsequential"
(#
(#
SP
, $ nP ) : phugoid mode
82!
Note change in
time scale"
Airspeed!
Pitch Rate!
Angle of Attack!
83!
(#
DR
84!
Sideslip Angle!
Yaw Rate!
85!
Roll Rate!
Roll Angle!
86!
H red ( j" ) =
H blue ( j" ) =
10
( j" + 10)
( j" )
100 2
87!
88!
89!
H ( j! ) = ( j! + 10 )
H (j! ) =
Right-Half-Plane Transfer
Function Zero"
H ( j! ) = " ( j! " 10 )
91!
[( j" )
92!
93!
Elevator-toNormal-Velocity
Frequency
Response"
) (
0 dB/dec!
0 dB/dec!
+40 dB/dec!
!(n q) = 1"
!Complex zero
almost (but
not quite)
cancels
phugoid
response"
40 dB/dec!
Phugoid"
Short "
Period"
20 dB/dec!
94!