Aircraft Equations of Motion

Robert Stengel, Aircraft Flight Dynamics MAE 331, 2008

Angular kinematics Euler angles Rotation matrix Angular momentum Inertia matrix Rotating frames of reference Combined equations of motion

What Use are the Equations of Motion?

Nonlinear equations of motion
Compute exact ight paths and motions
Simulate ight motions Optimize ight paths Predict performance

dx(t) = f [ x(t),u(t),w(t),p(t),t ] dt

Provide basis for approximate solutions

dx(t) = F x(t) + Gu(t) + L w(t) dt

Linear equations of motion

Simplify computation of ight paths and solutions Dene modes of motion Provide basis for control system design and ying qualities analysis

Copyright 2008 by Robert Stengel. All rights reserved. For educational use only. http://www.princeton.edu/~stengel/MAE331.html http://www.princeton.edu/~stengel/FlightDynamics.html

Cartesian Frames of Reference

Two reference frames of interest

Measurement of Position in Alternative Frames - 1

Translation
Relative linear positions of origins Orientation of the body frame with respect to the inertial frame

I: Inertial frame (xed to inertial space) B: Body frame (xed to body)

Rotation

Two reference frames of interest

I: Inertial frame (xed to inertial space) B: Body frame (xed to body)

Inertial-axis view

" x% $ ' r = $ y' $ ' #z& rparticle = rorigin + (rw.r.t. origin

Body-axis view

Common convention (z up) Aircraft convention (z down)

However, differences in frame orientations must be taken into account in adding vector components

Euler Angles Measure the Orientation of One Frame with Respect to the Other
Conventional sequence of rotations from inertial to body frame
Each rotation is about a single axis Right-hand rule Yaw, then pitch, then roll These are called Euler Angles

Effects of Rotation on Vector Transformation

Yaw rotation (!) about zI

"x% " cos( sin( 0%"x% " x I cos( + y I sin( % $ ' $ '$ ' $ ' 1 $y' = $)sin( cos( 0'$y' = $)x I sin( + y I cos(' ; r1 = H I rI $ z '1 $ 0 ' 0 1'$ z 'I $ zI # & # &# & # &
Pitch rotation (") about y1

"x% "cos ( 0 )sin (%"x% $ ' $ '$ ' 2 2 1 0 '$y' ; r2 = H1 r1 = H1 H1 rI = H 2rI I I $ y' = $ 0 $ ' $ '$ ' # z &2 #sin ( 0 cos ( &# z &1

Roll rotation (#) about x2 Yaw rotation (!) about zI Pitch rotation (") about y1 Roll rotation (#) about x2

Other sequences of 3 rotations can be chosen; however, once sequence is chosen, it must be retained

"x% "1 0 0 %"x% $ ' $ '$ ' B B 2 B $y' = $0 cos ( sin ( '$y' ; rB = H 2 r2 = H 2 H I rI = H I rI $ ' $ '$ ' # z &B #0 )sin ( cos (&# z &2

The Rotation Matrix

The three-angle rotation matrix is the product of 3 single-angle rotation matrices:

Properties of the Rotation Matrix

2 H B (",#,$ ) = H B (" )H1 (# )H1 ($ ) I 2 I

2 H B (",#,$ ) = H B (" )H1 (# )H1 ($ ) I 2 I

The rotation matrix produces an orthonormal transformation

Angles are preserved Lengths are preserved

rI = rB

; sI = sB

&1 0 0 )&cos# 0 %sin #)& cos$ sin$ 0) ( +( +( + = (0 cos " sin " +( 0 1 0 +(%sin$ cos$ 0+ ( +( + 0 1* '0 %sin " cos "*'sin # 0 cos# +( 0 *' & cos# cos$ cos # sin$ %sin # ) ( + = (%cos " sin$ + sin " sin # cos$ cos " cos$ + sin " sin # sin$ sin " cos# + ( + ' sin " sin$ + cos " sin # cos$ %sin " cos$ + cos " sin # sin$ cos " cos #*

"(rI ,sI ) = "(rB ,sB ) = x deg

Inverse relationship

rB = H B rI I

; rI = (H B ) rB = H IB rB I
I H IB = (H B ) = (H B ) = H1 H1 H 2 I I 2 B "1 T

"1

!
Because transformation is orthonormal,
Inverse = transpose Rotation matrix is always non-singular !

H IB H B = H B H IB = I I I

Measurement of Position in Alternative Frames - 2

Angular Momentum of a Particle

Moment of linear momentum of differential particles that make up the body
Differential masses times components of their velocity that are perpendicular to the moment arms from the center of rotation to the particles

Inertial-axis view

I rparticle I = rorigin"B I + H B #rB

Body-axis view
Cross Product

dh = (r " dmv) = (r " v m ) dm = (r " ( v o + # " r )) dm

i !v = x r" vx j y vy

#" x & % ( " = %" y ( % ( $" z '

rparticle B = rorigin"I B + H IB #rI

! k z = ( yv z # zv y )i + ( zv x # xv z ) j + ( xv y # yv x ) k vz

Angular Momentum of the Aircraft

Integrate moment of linear momentum of differential particles over the body
x max y max z max

Cross-ProductEquivalent Matrix
i r"v= x vx j y vy k z = ( yv z # zv y )i + ( zv x # xv z ) j + ( xv y # yv x ) k vz

h=

Body

$ (r " (v

+ # " r )) dm =

x min y min

$ $

&hx ) ( + $ (r " v) %(x, y,z)dx dy dz = (hy + z min (h z + ' *

%(x, y,z) = Density of the body

Choosing the center of mass as the rotational center

$ 0 #z y ' $v x ' $( yv z # zv y )' ) & )& ) & =& z 0 #x) &v y ) = &( zv x # xv z )) = rv & %#y x 0 ) %v z ( &( xv y # yv x )) (& ) % (

h=

Body

# (r " v )dm + # (r " ($ " r ))dm

o Body Body

Cross-product-equivalent matrix
!

=0% &%

# (r " (r " $ ))dm = % # (r " r )dm " $

Body

Body

# (rr )dm$

# 0 "z y & % ( r =% z 0 "x( %"y x 0 ( $ '

Location of the Center of Mass

rcm = 1 " rdm = " m Body x min
x max y max z max

The Inertia Matrix

h="
where
Body

y min

"

$ x cm ' " r#(x, y,z)dx dy dz = &y cm ) & ) z min & zcm ) % (

$ r r # dm = " $ r r dm # = I#
Body

#" x & % ( " = %" y ( % ( $" z '

$ 0 "z & I = " # r r dm = " # & z 0 Body Body &"y x % 2 2 $(y + z ) "xy & = # & "xy (x 2 + z 2 ) Body & "yz % "xz

y '$ 0 "z y ' )& ) "x)& z 0 "x) dm ! 0 )&"y x 0 ) (% ( "xz ' ) "yz )dm (x 2 + y 2 )) (

Inertia matrix derives from equal effect of angular rate on all particles of the aircraft

Moments and Products of Inertia

Inertia matrix

Inertia Matrix of an Aircraft with Mirror Symmetry

#(y 2 + z 2 ) # Ixx 0 "xz & % ( % 2 2 I= ) % 0 (x + z ) 0 (dm = % 0 Body % %"Ixz 0 (x 2 + y 2 )( $ $ "xz '
0% ' 0' Izz ' &

#(y + z ) # Ixx "xy "xz & % ( % 2 2 I = ) % "xy (x + z ) "yz (dm = %"Ixy Body % %"Ixz "yz (x 2 + y 2 )( $ $ "xz '
2 2

"Ixy Iyy "Iyz

"Ixz & ( "Iyz ( Izz ( '

"Ixx $ $0 $0 # 0 Iyy 0

0 Iyy 0

"Ixz & ( 0 ( Izz ( '

Moments of inertia on the diagonal Products of inertia off the diagonal If products of inertia are zero, (x, y, z) are principal axes --->

Nose high/low product of inertia, Ixz

Newton!s 2nd Law, applied to rotational motion (in inertial frame)

Rate of change of angular momentum = applied moment (or torque), M !

#mx & dh d ( I" ) % ( = = I" + I" = M = %my ( dt dt %m z ( $ '

Moments and Products of Inertia

(Bedford & Fowler)

Angular Momentum and Rate

Angular momentum and rate vectors are not necessarily aligned

Inertia matrix, with constant density, $

$(y 2 + z 2 ) #xy #xz ' & ) (x 2 + z 2 ) #yz )dxdydz & #xy Body & #xz #yz (x 2 + y 2 )) % (

I="

Can construct aircraft moments of inertia from components using parallel-axis theorem

h = I"

How Do We Get Rid of dI/dt in the Angular Momentum Equation?

Chain Rule ... and in an inertial frame

Angular Momentum Expressed in Different Frames of Reference

Angular momentum and rate are vectors
They can be expressed in either the inertial or body frame The 2 frames are related by the rotation matrix

d ( I" ) = I" + I" dt

!

I"0

Write the dynamic equation in a body-referenced frame

Inertial properties of a constant-mass, rigid body are unchanging in a body frame of reference ... but a body-referenced frame is non-Newtonian or noninertial Therefore, dynamic equation must be modied to account for a rotating frame

hB = H B hI I " B = HB" I I

; ;

hI = H IB hB " I = H IB " B

Vector Derivative Expressed in a Rotating Frame

Chain Rule

External Moment Causes Change in Angular Rate

Positive rotation of Frame B w.r.t. Frame A is a negative rotation of Frame A w.r.t. Frame B

hI = H IB hB + H IB hB
Alternatively

Effect of body-frame rotation

Rate of change expressed in body frame

hI = H IB hB + " I # hI = H IB hB + " I hI
Consequently

... where the cross-productequivalent matrix of angular rate is

In the body frame of reference, the angular momentum change is

H IB hB = " I hI = " I H IB hB
!

$ 0 & " = & "z &#" y %

#" z 0 "x

"y ' ) #" x ) 0 ) (

I h B = H B h I + H B h I = H B h I " # B $ hB I I B B = H I h I " # B h B = H I M I " # B IB # B = M B " # B IB # B

Moment = torque = force x moment arm

"mx % $ ' M I = $my ' $ ' #mz &I

"mx % $ ' ; M B = H M I = $my ' $ ' #mz &B

B I

Rate of Change of Body-Referenced Angular Rate due to External Moment

In the body frame of reference, the angular momentum change is Body-axis angular rate vector (orthogonal) #" x & # p& % ( % ( " B = %" y ( = %q( % ( % ( $" z 'B $ r ' Form a non-orthogonal vector of Euler angles

Euler-Angle Rates and Body-Axis Rates

I h B = H B h I + H B h I = H B h I " # B $ hB I I = H B h I " # B h B = H B M I " # B IB # B I I B IB # B = MB " #

For constant body-axis inertia matrix

h B = IB " B = M B # " B IB " B

!
Consequently, the differential equation for angular rate of change is
#1 " B = IB (M B # " B IB " B )

&# ) ( + " = ($ + ( + '%*

Euler-angle rate vector

&# ) &- x ) = ($ + , (- y + " ( + ( + (%+ (- z + ' * ' *

Relationship Between EulerAngle Rates and Body-Axis Rates

Point-Mass Equations of Motion

Rate of change of the center of mass!s translational position

" is measured in the Inertial Frame " is measured in Intermediate Frame #1 " is measured in Intermediate Frame #2 !!
! ... which is

" p% "(% "0% "0 % $ ' $ ' B $ ' B 2$ ' $q' = $0' + H 2 $)' + H 2 H1 $0 ' $ r ' $0' $0' $*' # & # & # & # &
Can the inversion become singular? What does this mean?

rI = v I = H IB v B
Express translational dynamics of the center of mass in the body frame of reference

" p% "1 0 (sin ) %"* % $ ' $ '$ ' B = $q' = $0 cos * sin * cos ) '$) ' ! L I , $ ' $ '# & # r & #0 (sin * cos * cos )&$+'
Inverse transformation [(.)-1 " (.)T]

vI =

1 FI m
B I

%" ( %1 sin " tan # cos " tan # (% p( ' * ' *' * cos " +sin " *'q* = LIB , B '# * = '0 '$* &0 sin " sec # cos " sec #)& r ) *' * & ) '

1 v B = H v I " # B v B = H B FI " # B v B I m 1 = FB " # B v B m

!

" fx% $ ' FB = $ f y ' $ ' # f z &B

" u% $ ' vB = $ v ' $ ' #w&

Rigid-Body Equations of Motion

Translational Position

Aircraft Characteristics Expressed in Body Frame of Reference

Aerodynamic and thrust force

Rate of change of Translational Position Rate of change of Angular Position

rI = H v B " = LIB # B
vB = 1 FB + H B g I " # B v B I m

I B

" x% $ ' rI = $y' $ ' # z &I

Angular Position

&# ) ( + " = ($ + (%+ ' *

"X % "CX % "CX % $ ' $ ' 1 $ ' 2 FB = $Y ' = $CY ' (V S = $CY ' q S 2 $ Z 'B $CZ 'B $CZ 'B # & # & # &
" L % " Cl b % " Cl b % $ ' $ ' 1 $ ' 2 M B = $M ' = $Cm c ' (V S = $Cm c ' q S 2 $ N 'B $ Cn b 'B $ Cn b 'B # & # & # &

Aerodynamic and thrust moment

Rate of change of Translational Velocity

Translational " u % Velocity $ '

!
Inertia matrix

Rate of change of Angular Velocity

! !

vB = $ v ' $ ' #w&

#1 " B = IB (M B # " B IB " B )

Angular Velocity

!
!

# p& % ( " B = %q ( % ( $r'

# Ixx % IB = %"Ixy %"Ixz $

"Ixy Iyy "Iyz

"Ixz & ( "Iyz ( Izz ( '

b = wing span c = mean aerodynamic chord

Rigid-Body Equations of Motion (Scalar Notation)

Rate of change of Translational Position
x I = (cos " cos# ) u + ($cos % sin# + sin % sin " cos# )v + (sin % sin# + cos % sin " cos# ) w y I = (cos " sin# ) u + (cos % cos# + sin % sin " sin# )v + ($sin % cos# + cos % sin " sin# ) w zI = ($sin " ) u + (sin % cos " )v + (cos % cos" ) w

Longitudinal Transient Response to Initial Pitch Rate

Rate of change of Angular Position (Ixy and Iyz = 0)

!

" = p + (qsin " + r cos " ) tan # # = qcos " $ r sin " % = (qsin " + r cos " ) sec #

Rate of change of Translational Velocity

!

u = X /m " gsin # + rv " qw v = Y /m + gsin $ cos # " ru + pw w = Z /m + gcos $ cos # + qu " pv

Rate of change of Angular Velocity

!
2 2 p = Izz L + Ixz N " Ixz ( Iyy " Ixx " Izz ) p + Ixz + Izz ( Izz " Iyy ) r q ( Ixx Izz " Ixz )

Aircraft with mirror symmetry, Ixz ! 0

]})

q = M " ( Ixx " Izz ) pr " Ixz ( p 2 " r 2 ) Iyy

2 2 r = Ixz L + Ixx N " Ixz ( Iyy " Ixx " Izz ) r + Ixz + Ixx ( Ixx " Iyy ) p q ( Ixx Izz " Ixz )

]})

Bizjet, M = 0.3, Altitude = 3,052 m

Transient Response to Initial Roll Rate

Lateral-Directional Response Longitudinal Response

Transient Response to Initial Yaw Rate

Lateral-Directional Response Longitudinal Response

Bizjet, M = 0.3, Altitude = 3,052 m

Bizjet, M = 0.3, Altitude = 3,052 m

Crossplot of Transient Response to Initial Yaw Rate

Relationship of Inertial Axes to Body Axes

Independent of velocity vector Represented by
Euler angles Rotation matrix

"v x % " u% $ ' B$ ' $ v ' = H I $v y ' $ ' $ ' #w& #v z &
Bizjet, M = 0.3, Altitude = 3,052 m

"v x % " u% $ ' I $ ' $v y ' = H B $ v ' $ ' $ ' #w& #v z &

Relationship of Body Axes to Wind Axes

No reference to the inertial frame

Relationship of Inertial Axes to Velocity Axes

No reference to the body frame Bank angle is roll angle about the velocity vector
"v x % "V cos ( cos) % $ ' $ ' $v y ' = $V cos ( sin ) ' $v z ' $ *V sin ( ' & # &I #
$ vx 2 + vy 2 + vz2 ' $V ' & ) 1/ 2 ' & ) & *1$ " ) = sin &v y / v x 2 + v y 2 )) & % () & &# ) & % ( ) sin*1 (*v z /V ) % (

" u % "V cos ( cos ) % $ ' $ ' $ v ' = $ V sin ) ' $w' $V sin ( cos ) ' # & # &

$V ' $ u 2 + v 2 + w 2 ' ) & ) & " ) = & sin*1 (v /V ) ) & &# ) & tan*1 ( w /u) ) % ( % (
!

Alternative Frames of Reference

Orthonormal transformations connect all reference frames

Next Time: Effects of Stability, Control, and Power on Design