Aircraft Equations of Motion - 2

Robert Stengel, Aircraft Flight Dynamics, MAE 331,

2010
Rotating frames of reference
Combined equations of
motion
FLIGHT 6-DOF simulation
program

Euler Angle Rates

Copyright 2010 by Robert Stengel. All rights reserved. For educational use only.
http://www.princeton.edu/~stengel/MAE331.html
http://www.princeton.edu/~stengel/FlightDynamics.html

Euler-Angle Rates
and Body-Axis Rates

Body-axis angular rate

vector (orthogonal)
" !x
$
!B = $ !y
$
$# ! z

Relationship Between Euler-Angle

Rates and Body-Axis Rates

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

Form a non-orthogonal vector

of Euler angles
% " (
'
*
!=' # *
' $ *
&
)

! is measured in the Inertial Frame

! is measured in Intermediate Frame #1
! is measured in Intermediate Frame #2

"!
#!
$!

( % ,
* ' x
* + ' ,y
* '
) '& , z

(
*
*
*
*) I

! p$ !1
0
'sin ( $!) $
&# & B
# & #
#q& = #0 cos ) sin ) cos ( &#( & = L I +
#" r &% #"0 'sin ) cos ) cos (&%#"* &%

$
! 0 $
!
&
&
B #
B 2 #
& + H 2 # (! & + H 2 H1 #
&
#"
%
"# 0 &%

0
0
)!

$
&
&
&%

... which is

Euler-angle rate vector

%
'
!
!='
'
&

! p $ ! '!
& #
#
# q &=# 0
# r & #" 0
%
"

Inverse transformation [(.)-1 ! (.)T]

Can the inversion

become singular?
What does this mean?
$! ' $1 sin ! tan " cos ! tan " '$ p'
& ) &
)& )
cos !
*sin ! )&q) = LIB + B
&" ) = &0
&%# )( &%0 sin ! sec " cos ! sec ")(&% r )(

Point-Mass
Equations of Motion

Rigid-Body
Equations of Motion

Inertial rate of change of translational position

r!I = v I = H IB v B

Body-axis rate of change of translational velocity

Transformation is identical to angular-momentum transformation

v! I =

1
FI
m

v! B = H BI v! I ! "" B v B =

1 B
H I FI ! "" B v B
m

1
= FB ! "" B v B
m

Translational
Position

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

Rate of change of
Translational Velocity

Rate of change of
Angular Velocity

r!I = H v B
I
B

! = LI "
!
I
B B
1
v! B = FB + H BI g I ! "" B v B
m

!! B = I

"1
B

( M B " !" B I B! B )

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

Aerodynamic and thrust force

! Xaero + Xthrust
#
FB = # Yaero + Ythrust
# Z +Z
thrust
" aero

Angular
Position

% " (
'
*
!I = ' # *
' $ *
&
)I

&
#
vB = # v &
#" w &% B
" p %
'
$
!B = $ q '
$ r '
&B
#

$
! CX
& 1
#
& 'V 2 S = # CY
& 2
# C
&%
" Z
B

! CX + CX
$
aero
thrust
#
&
& = # CYaero + CYthrust
#
&
% B #" CZaero + CZthrust

$
&
& qS
&
%B

Aerodynamic and thrust moment

! Laero + Lthrust
#
M B = # M aero + M thrust
# N +N
aero
thrust
"

Translational
Velocity
! u $

Angular
Velocity

$
&
&
&%

Aircraft Characteristics
Expressed in Body Frame
of Reference

Rigid-Body Equations of Motion

! fx $
! u
&
#
#
FB = # fy & ; v B = # v
&
#
#" w
#" fz &% B

Inertia matrix

(
(
(

)
)
)

$
! C +C
laero
lthrust b
$
! Cl b $
&
#
&
&
#
& 1 2
#
& = # Cmaero + Cmthrust c & 'V S = # Cm c & q S
2
&
#
&
#
Cb &
% B # Cnaero + Cnthrust b &
" n %B
%B
"

" I xx
$
I B = $ !I xy
$
$# !I xz

!I xy
I yy
!I yz

!I xz %
'
!I yz '
'
I zz '
&B

Reference Lengths
b = wing span
c = mean aerodynamic chord

Rigid-Body Equations of
Motion: Rate

Rigid-Body Equations of
Motion: Position

Rate of change of Translational Position

Rate of change of Translational Velocity

x! I = ( cos! cos" ) u + ( # cos $ sin " + sin $ sin ! cos" ) v + ( sin $ sin " + cos $ sin ! cos" ) w

u! = X / m ! g sin " + rv ! qw
v! = Y / m + g sin # cos" ! ru + pw
w! = Z / m + g cos # cos" + qu ! pv

y! I = ( cos! sin " ) u + ( cos $ cos" + sin $ sin ! sin " ) v + ( # sin $ cos" + cos $ sin ! sin " ) w

z!I = ( # sin ! ) u + ( sin $ cos! ) v + ( cos $ cos! ) w

Rate of change of Angular Position

!! = p + ( q sin ! + r cos ! ) tan "

"! = q cos ! # r sin !
$! = ( q sin ! + r cos ! ) sec "

Rate of change of Angular Velocity

{ (

} ) (I

} ) (I

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
1
" M ! ( I xx ! I zz ) pr ! I xz p 2 ! r 2 $
q! =
%
I yy #

{ (

I ! I xz2

I ! I xz2

xx zz

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

xx zz

Mirror symmetry,
Ixz ! 0

FLIGHT - MATLAB Program

FLIGHT Computer Program to

Solve the 6-DOF
Equations of Motion

http://www.princeton.edu/~stengel/FlightDynamics.html

FLIGHT - MATLAB Program

Examples from FLIGHT

http://www.princeton.edu/~stengel/FlightDynamics.html

Longitudinal Transient
Response to Initial Pitch Rate

Transient Response
to Initial Roll Rate
Longitudinal Response

Lateral-Directional Response

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

For a symmetric aircraft, longitudinal

perturbations do not induce lateraldirectional motions

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

For a symmetric aircraft, lateraldirectional perturbations do

induce longitudinal motions

Transient Response
to Initial Yaw Rate
Lateral-Directional Response

Crossplot of Transient
Response to Initial Yaw Rate

Longitudinal Response

Longitudinal-Lateral-Directional Coupling

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

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

Velocity Orientation in an
Inertial Frame of Reference
Polar Coordinates

Alternative Reference
Frames

Projected on a Sphere

Body Orientation with

Respect to an Inertial Frame

Velocity Orientation with

Respect to the Body Frame
Polar Coordinates

Angles Projected on the

Unit Sphere

Projected on a Sphere

Velocity-Vector Components
of an Aircraft
V, !, "

Origin is airplane"s
center of mass

! : angle of attack
" : sideslip angle
# : vertical flight path angle
$ : horizontal flight path angle
% : yaw angle
& : pitch angle
' : roll angle (about body x ( axis)
: bank angle (about velocity vector)

V, #, $

Relationship of Inertial
Axes to Velocity Axes

Relationship of Inertial
Axes to Body Axes

No reference to the
body frame
Bank angle is roll
angle about the
velocity vector

! vx $ ! V cos ' cos (

& #
#
# vy & = # V cos ' sin (
& # )V sin '
#
#" vz &% I "

$
&
&
&
%

Euler angles
Rotation matrix

#
vx2 + vy2 + vz2
# V & %
%
%
(
)1 #
2
2 1/2 &
% ! ( = % sin $ vy / vx + vy '
%
% " (
$
' %
sin )1 ( )vz / V )
$

Relationship of Body
Axes to Wind Axes

No reference to
the inertial frame

! u $ ! V cos ' cos (

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

$
&
&
&
%

Transformation is
independent of
velocity vector
Represented by

#
# V & %
%
( %
% ! (=%
%$ " (' %
$

&
u 2 + v2 + w2 (
sin )1 ( v / V ) (
(
tan )1 ( w / u ) (
'

! vx $
! u $
&
#
&
#
B
# v & = H I # vy &
&
#
#" w &%
#" vz &%

&
(
(
(
(
(
'

! vx $
! u $
&
#
&
I #
=
H
v
# y &
B # v &
&
#
#" w &%
#" vz &%

Alternative Frames of Reference

Orthonormal transformations connect all reference frames

Next Time:
Linearization and
Modes of Motion