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Linearization Notes Online
Linearization Notes Online
Matthew M. Peet
Illinois Institute of Technology
Aircraft Dynamics
Lecture 10
Discussion of Coefficients
M. Peet
Lecture 10:
2 / 19
Fx
u + qw rv
Fy = m v + ru pw
Fz
w + pv qu
and
L
Ixx p Ixz r qpIxz + qrIzz rqIyy
M = Iyy q + p2 Ixz prIzz + rpIxx r2 Ixz
N
Ixz p + Izz r + pqIyy qpIxx + qrIxz
M. Peet
Lecture 10:
3 / 19
Linearization
Consider our collection of variables:
also dont forget , , .
X, Y, Z, p, q, r, L, M, N, u, v, w...
To Linearize:
Step 1: Choose Equilibrium point:
X0 , Y0 , Z0 , p0 , q0 , r0 , L0 , M0 , N0 , u0 , v0 , w0 .
Step 2: Substitute.
u(t) = u0 + u(t)
p(t) = p0 + p(t)
v(t) = v0 + v(t)
q(t) = q0 + q(t)
w(t) = u0 + w(t)
r(t) = r0 + r(t)
X(t) = X0 + X(t)
L(t) = L0 + L(t)
Y (t) = Y0 + Y (t)
M (t) = M0 + M (t)
Z(t) = Z0 + Z(t)
N (t) = N0 + N (t)
u(t)r(t) = 0,
Lecture 10:
etc.
4 / 19
Linearization
Step 1: Choose Equilibrium
v0 = 0
w0 = 0
p0 = 0
X0 6= 0
q0 = 0
Y0 = 0
r0 = 0
Z0 6= 0
L0 = 0
M0 = 0
N0 = 0
X0 = mg sin 0
Z0 = mg cos 0
M. Peet
Lecture 10:
5 / 19
Linearization
Step 2: Substitute into EOM
= sin 0 + cos 0
= cos 0 sin 0
M. Peet
Lecture 10:
6 / 19
Linearization
Step 2: Substitute into EOM
Ixz
Izz
L +
N
2
2
Ixx Izz Ixz
Ixx Izz Ixz
M
q =
Iyy
Ixz
Ixx
r =
L +
N
2
2
Ixx Izz Ixz
Ixx Izz Ixz
p =
Lecture 10:
7 / 19
Linearization
Step 2: Substitute into EOM
M. Peet
Lecture 10:
8 / 19
Linearization
Step 2: Substitute into EOM
M. Peet
Lecture 10:
9 / 19
Linearization
Force Contribution
Out of (u, v, w, u,
v,
w,
p, q, r, a , e , r , T ), we make the restrictive
assumptions on form (Why?):
X(u, w, e , T )
Y (v, p, r, r )
Z(u, w, w,
q, e , T )
L(v, p, r, r , a )
M (u, w, w,
q, e , T )
N (v, p, r, r , a )
Lecture 10:
10 / 19
Linearization
Force Contribution
M. Peet
X
X
X
X
e +
T
u +
w +
u
w
e
T
Y
Y
Y
Y
r
v +
p +
r +
v
p
r
r
Z
Z
Z
Z
Z
Z
e +
T
u +
w +
w +
q +
u
w
w
q
e
T
L
L
L
L
L
r +
a
v +
p +
r +
v
p
r
r
a
M
M
M
M
M
M
e +
T
u +
w +
w +
q +
u
w
w
q
e
T
N
N
N
N
N
r +
a
v +
p +
r +
v
p
r
r
a
Lecture 10:
11 / 19
Linearization
Coefficients
= Xu
= Yv
= Zu
= Lv
= Mu
= Nv
M. Peet
1 X
m w
1 Y
m p
1 Z
m w
1 L
Izz p
1 M
Iyy w
1 N
Ixx p
= Xw
= Yp
= Zw
= Lp
= Mw
= Np
1 X
m e
1 Y
m r
1 Z
m w
1 L
Izz r
1 M
Iyy w
1 N
Ixx r
= Xe
= Yr
= Zw
= Lr
= Mw
= Nr
1 X
m T
1 Y
m r
1 Z
m q
1 L
Izz r
1 M
Iyy q
1 N
Ixx r
Lecture 10:
= XT
= Yr
= Zq
= Lr
= Mq
= Nr
1 Z
m e
1 L
Izz a
1 M
Iyy e
1 N
Ixx a
= Ze
= La
= Me
= Na
12 / 19
Longitudinal Dynamics
Although we now have many equations, we notice that some of them decouple:
X
m
Z
w + g sin 0 u0 q =
m
M
q =
Iyy
= q
u + g cos 0 =
where 1
X = Xu u + Xw w + Xe e + XT T
m
1
Z
Z
e + ZT T
Z = Zu u + Zw w +
w + Zq q +
m
w
e
1
M = Mu u + Mw w + Mw w + Mq q + Me e + MT T
Iyy
and also,
Lecture 10:
13 / 19
where
1
X = Xu u + Xw w + Xe e + XT T
m
1
Z = Zu u + Zw w + Zw w + Zq + Ze e + ZT T
m
1
M = Mu u + Mw w + Mw w + Mq + Me e + MT T
Iyy
M. Peet
Lecture 10:
14 / 19
Combining:
u + g cos 0 = Xu u + Xw w + Xe e + XT T
w + g sin 0 u0 = Zu u + Zw w + Zw w + Zq + Ze e + ZT T
= Mu u + Mw w + Mw w + Mq + Me e + MT T
M. Peet
Lecture 10:
15 / 19
Lateral Dynamics
The rest of the equations are also decoupled:
v g cos 0 + u0 r =
Y
m
Izz
Ixz
L +
N
2
2
Ixx Izz Ixz
Ixx Izz Ixz
Ixx
Ixz
L +
N
r =
2
2
Ixx Izz Ixz
Ixx Izz Ixz
= p + r tan 0
p =
where
1
Y = Yv v + Yp p + Yr r + Yr r
m
1
L = Lv v + Lp p + Lr r + Lr r + La a
Izz
1
N = Nv v + Np p + Nr r + Nr r + Na a
Ixx
and also
M. Peet
y = u0 cos 0 + v
Lecture 10:
16 / 19
Alternative Representation
M. Peet
Lecture 10:
17 / 19
Conclusion
M. Peet
Lecture 10:
18 / 19
Conclusion
M. Peet
Lecture 10:
19 / 19