Spacecraft and Aircraft Dynamics

Matthew M. Peet
Illinois Institute of Technology

Lecture 10: Linearized Equations of Motion

Aircraft Dynamics
Lecture 10

In this Lecture we will cover:

Linearization of 6DOF EOM
Linearization of Motion
Linearization of Forces
I

Discussion of Coefficients

Longitudinal and Lateral Dynamics

Omit Negligible Terms
Decouple Equations of Motion

M. Peet

Lecture 10:

2 / 19

Review: 6DOF EOM

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)

Step 3: Eliminate small nonlinear terms. e.g.

u(t)2 = 0,
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u(t)r(t) = 0,
Lecture 10:

etc.
4 / 19

Linearization
Step 1: Choose Equilibrium

For steady flight, let

u0 6= 0

v0 = 0

w0 = 0

p0 = 0
X0 6= 0

q0 = 0
Y0 = 0

r0 = 0
Z0 6= 0

L0 = 0

M0 = 0

N0 = 0

Other Equilibrium Factors

Weight
Weight: Pitching Motion changes force
distribution.

X0 = mg sin 0
Z0 = mg cos 0
M. Peet

Lecture 10:

5 / 19

Linearization
Step 2: Substitute into EOM

We use trig identities and small angle approximations ( small):

sin(0 + ) = sin 0 cos + cos 0 sin

= sin 0 + cos 0

cos(0 + ) = cos 0 cos sin 0 sin

= cos 0 sin 0

M. Peet

Lecture 10:

6 / 19

Linearization
Step 2: Substitute into EOM

Substituting into EOM, and ignoring 2nd order terms, we get

X
m
Y
v g cos 0 + u0 r =
m
Z
w + g sin 0 u0 q =
m
u + g cos 0 =

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 =

Note these are coupled with , .

M. Peet

Lecture 10:

7 / 19

Linearization
Step 2: Substitute into EOM

We include expressions for , .

= q
= p + r tan 0
= r sec 0
For steady-level flight, 0 = 0, so we can simplify
= q
= p
= r
which is what we will mostly do.

M. Peet

Lecture 10:

8 / 19

Linearization
Step 2: Substitute into EOM

We can also express the equations for translational motion

x = u cos 0 u0 sin 0 + w sin 0
y = u0 cos 0 + v
z = u sin 0 u0 cos 0 + w cos 0

So now we have 12 equations and 12 variables.

But Wait But Wait!!! Theres More!!!
Recall the forces and moments depend on motion and controls: e.g.
X(u, v, w, , e , t ).
More Variables!
More Nonlinear Terms!

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 )

where we have following new variables

T - Throttle control input.
e - Elevator control input.
a - Aileron control input.
r - Rudder control input.

It could be worse (, , ). Reality is worse.

M. Peet

Lecture 10:

10 / 19

Linearization
Force Contribution

To linearize the forces/moments we use first-order derivative approximations:

X =
Y =
Z =
L =
M =
N =

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

We have a notation for the partial derivatives:

1 X
m u
1 Y
m v
1 Z
m u
1 L
Izz v
1 M
Iyy u
1 N
Ixx v

= 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,

x = u cos 0 u0 sin 0 + w sin 0

z = u sin 0 u0 cos 0 + w cos 0
M. Peet

Lecture 10:

13 / 19

Simplified Longitudinal Dynamics

Note = q
X
m
Z
w + g sin 0 u0 =
m
M
=
Iyy
u + g cos 0 =

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

Simplified Longitudinal Dynamics

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

Homework: Put in state-space form. Hint: Watch out for w.

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

Today you learned

Linearized Equations of Motion:
Linearized Rotational Dynamics
Linearized Force Contributions
New Force Coefficients

Equations of Motion Decouple

Longitudinal Dynamics
Lateral Dynamics

M. Peet

Lecture 10:

18 / 19

Conclusion

Next class we will cover:

Longitudinal Dynamics:
Finding dimensional Coefficients from non-dimensional coefficients
Approximate modal behaviour
I
I

short period mode

phugoid mode

M. Peet

Lecture 10:

19 / 19