Ohiou1237481460 PDF

AERODYNAMIC MODELING OF AN UNMANNED AERIAL VEHICLE USING A
COMPUTATIONAL FLUID DYNAMICS PREDICTION CODE
A thesis presented to
the faculty of
the Russ College of Engineering and Technology of Ohio University
In partial fulfillments
of the requirements for the degree
Master of Science
Isaac D. Rose
March 2009
2009 Isaac D. Rose. All Rights Reserved.

This thesis titled
COMPUTATIONAL FLUID DYNAMICS PREDICTION CODE
by
ISAAC D. ROSE
has been approved for
the School of Electrical Engineering and Computer Science
and the Russ College of Engineering and Technology by
_____________________________________________________________
Douglas A. Lawrence
Professor of Electrical Engineering and Computer Science
_____________________________________________________________
Dennis Irwin
Dean, Russ College of Engineering and Technology

Abstract
ROSE, ISAAC D., M.S., March 2009, Electrical Engineering
COMPUTATIONAL FLUID DYNAMICS PREDICTION CODE (192 pp.)
Director of Thesis: Douglas A. Lawrence
The process of creating a six degree-of-freedom model for an aerospace
vehicle requires detailed knowledge of the aerodynamic characteristics. This thesis
presents an implementation of a Computational Fluid Dynamics (CFD) prediction
computer code to generate aerodynamic coefficients for the Brumby Mk. I Unmanned
Aerial Vehicle (UAV). The aerodynamic coefficients include both the force and
moment coefficients. These values are verified by creating a Matlab/Simulink six
degree-of-freedom model.
Approved: ______________________________________________________________
Douglas A. Lawrence
Professor of Electrical Engineering and Computer Science

Acknowledgments
I would like to thank GOD through whom all things are possible. I would like to
thank my wife and son for their understanding and encouragement. The hours spent
working on this thesis were hours spent away from them. I would also like to thank Dr.
Lawrence for the guidance and direction that he has given me over the years. The
research presented in this thesis is a tribute to his resolve in the autonomous control of the
Brumby Unmanned Arial Vehicle. Finally, I would like to thank the faculty of the
department of Electrical Engineering and Computer Science for their help throughout the
years.
Table of Contents
Abstract.................................................................................................................................3
Acknowledgments................................................................................................................4
Glossary of Variables..........................................................................................................14
Chapter 1: Introduction..................................................................................................19
1.1 Overview.............................................................................................................19
1.2 Motivation ..........................................................................................................20
1.3 Modeling Aerodynamic Forces and Moments....................................................21
1.4 Objectives............................................................................................................22
1.5 Thesis Organization.............................................................................................22
1.5.1 Missile DATCOM Input Parameters...........................................................22
1.5.2 Missile DATCOM Model of the Brumby UAV..........................................23
1.5.3 Equations of Motion....................................................................................23
1.5.4 Brumby UAV Model Simulation................................................................23
Chapter 2: Missile DATCOM Modeling Parameters Overview....................................24
2.1 Flight Conditions..................................................................................................26
2.2 Fuselage...............................................................................................................28
2.3 Primary Lifting Surface ......................................................................................29
2.4 Horizontal Stabilizer...........................................................................................33
2.5 Vertical Stabilizer................................................................................................35
2.6 Control Surfaces..................................................................................................36

2.7 Generating Additional Data................................................................................38
2.8 File Format and Content......................................................................................39
2.9 Missile DATCOM Example...............................................................................41
Chapter 3: Missile DATCOM Model of the Brumby Unmanned Aerial Vehicle .........72
3.1 Flight Conditions.................................................................................................72
3.2 Fuselage................................................................................................................75
3.3 Wing Planform....................................................................................................76
3.4 Vertical Stabilizer................................................................................................77
3.5 Control Surfaces .................................................................................................80
Chapter 4: Equations of Motion and Rigid Body Modeling .........................................86
4.1 Equations of Motion for A Rigid Body ..............................................................86
4.2 Aerodynamic Coefficients..................................................................................91
4.3 Six Degree-of-Freedom Aircraft Model............................................................101
Chapter 5: Simulation...................................................................................................103
5.1 Simulink Nonlinear Aircraft Model..................................................................103
5.2 Trimmed Aircraft Flight....................................................................................107
5.3 Linearized Aircraft Model.................................................................................108
5.4 Nonlinear Simulation Results...........................................................................112
5.4 Control Surface Doublet Simulation Results....................................................123
Chapter 6: Conclusions and Future Work....................................................................138
References........................................................................................................................140
Appendix A.1: for005.dat File.........................................................................................141

Appendix A.2 : Truncated for006.dat File.......................................................................145
Appendix A.3 : for003.dat File........................................................................................154
Appendix A.4 : for021.dat File........................................................................................155
Appendix B.1: Equations of Motion s-function...............................................................184
Appendix B.2: forces_moments.m..................................................................................189
Appendix B.3: datcomderive.m.......................................................................................192

List of Tables
Table 2.1: Missile DATCOM Control Cards.....................................................................26
Table 2.2: Missile DATCOM Namelist FLTCON ..........................................................27
Table 2.3: Missile DATCOM Namelist REFQ..................................................................28
Table 2.4: Missile DATCOM Namelist AXIBOD............................................................29
Table 2.5: Missile DATCOM Namelist FINSET..............................................................30
Table 2.6: Missile DATCOM Namelist DEFLCT.............................................................38
Table 2.7: Missile DATCOM File Definitions..................................................................41
Table 3.1: Brumby UAV Flight Conditions (FLTCON) ..................................................73
Table 3.2: Brumby UAV Reference Values (REFQ)........................................................75
Table 3.3: Brumby UAV Body Definition (ASYM).........................................................76
Table 3.4: Brumby UAV Twin Vertical Tail Planform Definition (FINSET2)................79
Table 4.5: Brumby UAV Wing Planform Definition (FINSET1).....................................88
Table 5.1: Brumby UAV Mass Properties.......................................................................104
Table 5.2: S-function Functionality.................................................................................104
Table 5.3: DATCOMTableMex.dll Functionality...........................................................106
Table 5.4: Brumby UAV Control Input Trimmed Values (Case 1)................................107
Table 5.5: Brumby UAV State Variables Initial Condition Values (Case 1)..................108
Table 5.6: Brumby UAV Trimmed Aerodynamic Values (Case 1)................................108
Table 5.7: Brumby UAV Control Input Trimmed Values (Case 2)................................112
Table 5.8: Brumby UAV Control Effector Doublet Values............................................124

List of Figures
Figure 2.1: Missile DATCOM Axes Definition ...............................................................25
Figure 2.2: Missile DATCOM Body Variables.................................................................30
Figure 2.2: Missile DATCOM Finset................................................................................31
Figure 2.3: NACA Airfoil Number Decomposition..........................................................31
Figure 2.4: Missile DATCOM Fin Panel Location Definition..........................................33
Figure 2.5:Twin-Horizontal Stabilzer Fin Panel Location Definition...............................34
Figure 2.6:V-Tail Stabilzer Fin Panel Location Definition...............................................35
Figure 2.7:Twin-Vertical Stabilzer Fin Panel Location Definition...................................36
Figure 2.8: Missile DATCOM Control Surface Definition...............................................38
Figure 2.9: for005.dat File Example..................................................................................43
Figure 2.10: for006.dat File Example (Data Input)...........................................................44
Figure 2.11: for006.dat File Example (Error Checking)....................................................45
Figure 2.12: for006.dat File Example (Case 1 Output, Page 2).........................................46
Figure 2.20: for006.dat File Example (Case 1 Output, Page 10).......................................54

Figure 2.24: for006.dat File Example (Case 2 Output, Page 1 and 2)...............................58
Figure 2.36: for003.dat File Example................................................................................70
Figure 2.37: for021.dat File Example................................................................................71
Figure 3.1: Brumby UAV Fuselage...................................................................................75
Figure 3.2: Brumby UAV Wing Planform........................................................................77
Figure 3.3: Brumby UAV Vertical Planform....................................................................79
Figure 3.4: Brumby UAV Vehicle Description Case for005.dat File................................82
Figure 3.5: Brumby UAV Wing Control Deflection Cases for005.dat File......................83
Figure 3.6: Brumby UAV Twin Vertical Tail Control Deflection Cases for005.dat File. 84
Figure 3.7: Brumby UAV Side-Slip Angle and Altitude Cases for005.dat File................85
Figure 4.1: Aerodynamic Angles.......................................................................................88
Figure 4.2: Lift Coefficient (a) and Drag Coefficient (b)..................................................94
Figure 4.3: Force(a, b, c) and Moment Coefficients(d, e, f)..............................................95
Figure 4.4: Brumby UAV Moment Definition..................................................................98
Figure 4.5: Axial and Normal Forces..............................................................................100
Figure 4.6: Lift and Drag Forces......................................................................................100
Figure 5.1: Simulink Nonlinear Aircraft Model..............................................................103
Figure 5.2: Navigation Position Output (SLF)................................................................113
Figure 5.3: Euler Angles Output (SLF)...........................................................................113
Figure 5.4: Translational Velocities Output (SLF)..........................................................114
Figure 5.5: Angular Velocities Output (SLF)..................................................................114
Figure 5.6: Velocity Magnitude Output (SLF)................................................................115
Figure 5.7: Aerodynamic Angles Output (SLF)..............................................................115
Figure 5.8: Flight-Path Angle Output (SLF)....................................................................116
Figure 5.9: Rate-of-Climb Output (SLF).........................................................................116
Figure 5.10: Navigation Position Ground Track Output (SLF).......................................117
Figure 5.11: Navigation Position 3-Dimensional Output (SLF)......................................117
Figure 5.12: Navigation Position Output (CTROC)........................................................118
Figure 5.13: Euler Angles Output (CTROC)...................................................................118
Figure 5.14: Translational Velocities Output (CTROC)..................................................119

Figure 5.15: Angular Velocities Output (CTROC)..........................................................119
Figure 5.16: Velocity Magnitude Output (CTROC)........................................................120
Figure 5.17: Aerodynamic Angles Output (CTROC)......................................................120
Figure 5.18: Flight-Path Angle Output (CTROC)...........................................................121
Figure 5.19: Rate-of-Climb Output (CTROC).................................................................121
Figure 5.20: Navigation Position Ground Track Output (CTROC)................................122
Figure 5.21: Navigation Position 3-Dimensional Output (CTROC)...............................122
Figure 5.22: Doublet Response Navigation Position Output (SLF)................................125
Figure 5.23: Doublet Response Euler Angles Output(SLF)............................................125
Figure 5.24: Doublet Response Translational Velocities Output(SLF)...........................126
Figure 5.25: Doublet Response Angular Velocities Output (SLF)..................................126
Figure 5.26: Doublet Response Velocity Magnitude Output (SLF)................................127
Figure 5.27: Doublet Response Aerodynamic Angles Output (SLF)..............................127
Figure 5.28: Flight-Path Angle Output (SLF)..................................................................128
Figure 5.29: Rate-of-Climb Output (SLF).......................................................................128
Figure 5.30: Doublet Response Navigation Ground Track Output (SLF).......................129
Figure 5.31: Doublet Response Navigation 3-Dimensional Output (SLF)......................129
Figure 5.32: Control Surface Deflection Input Angles (SLF).........................................130
Figure 5.33: Aerodynamic Control Surface Deflection Input Angles (SLF)...................130
Figure 5.34: Doublet Response Navigation Position Output (CTROC)..........................131
Figure 5.35: Doublet Response Euler Angles Output (CTROC).....................................131
Figure 5.36: Doublet Response Translational Velocities Output (CTROC)...................132

Figure 5.37: Doublet Response Angular Velocities Output (CTROC)...........................132
Figure 5.38: Doublet Response Velocity Magnitude Output (CTROC)..........................133
Figure 5.39: Doublet Response Aerodynamic Angles Output (CTROC)........................133
Figure 5.40: Flight-Path Angle Output (CTROC)...........................................................134
Figure 5.41: Rate-of-Climb Output (CTROC).................................................................134
Figure 5.42: Doublet Response Navigation Ground Track Output (CTROC)................135
Figure 5.43: Doublet Response Navigation 3-Dimensional Output (CTROC)...............135
Figure 5.44: Control Surface Deflection Input Angles (CTROC)...................................136
Figure 5.45: Aerodynamic Control Surface Deflection Input Angles (CTROC)............136

Glossary of Variables
D Drag Force
Y Side Force
L Lift Force
A Axial Force
N Normal Force
CA Axial Force Coefficient
CY Side Force Coefficient
CN Normal Force Coefficient
CL Lift Force Coefficient
CD Drag Force Coefficient
Cl Rolling Moment Coefficient (Body axis)
Cm Pitching Moment Coefficient(Body axis)
Cn Yawing Moment Coefficient (Body axis)
Cn
Normal Force Coefficient derivative with respect to angle-of-attack
Cm
Pitching Moment Coefficient derivative with respect to angle-of-attack
Cy
Side Force Coefficient derivative with respect to side-slip angle
Cn
Yawing Moment Coefficient derivative with respect to side-slip angle (Body
axis)
Cl
Rolling Moment Coefficient derivative with respect to side-slip angle (Body
axis)
X cp Center of Pressure in calibers from the moment reference center
l Rolling Moment
m Pitching Moment
n Yawing Moment
l Rolling Moment
m Pitching Moment
n Yawing Moment
l Rolling Moment
m Pitching Moment
n Yawing Moment
Cl p
Rolling Moment derivative with respect to Roll Rate
Cm q
Pitching Moment derivative with respect to Pitch Rate
Cn r
Yawing Moment derivative with respect to Yaw Rate
Cl r
Rolling Moment derivative with respect to Yaw Rate
Cn p
Yawing Moment derivative with respect to Roll Rate
CL r
Lift Force derivative with respect to Pitch Rate
CY P
Side Force derivative with respect to Roll Rate
CY r
Side Force derivative with respect to Yaw Rate
Cq Pitching Moment derivative with respect to Elevator Deflection Angle

ele
CL ele Lift Force derivative with respect to Elevator Deflection Angle
Cl ail Rolling Moment derivative with respect to Aileron Deflection Angle

Cn ail
Yawing Moment derivative with respect to Aileron Deflection Angle
Cl rud
Rolling Moment derivative with respect to Rudder Deflection Angle
Cn rud Yawing Moment derivative with respect to Rudder Deflection Angle
C Dynamic Derivative
q Dynamic Pressure
b Wing Span
c Mean Aerodynamic Chord
S Wing Span
Mass Density
VT Free Stream Velocity
k Dimensionless Rate Scale Factor
rate Angular Rotation Rate Corresponding to Aerodynamic Force
Coefficient Derivative
Angle-of-Attack
Side-Slip Angle
Flight-Path Angle
U Body-Frame Translational Velocity X-Axis Component
V Body-Frame Translational Velocity Y-Axis Component
W Body-Frame Translational Velocity Z-Axis Component
p Body-Frame Rotational Velocity X-Axis Component

q Body-Frame Rotational Velocity Y-Axis Component
r Body-Frame Rotational Velocity Z-Axis Component
Roll Attitude Euler Angle
Pitch Attitude Euler Angle
Yaw Attitude Euler Angle
N Inertial Navigation Position X-Axis Component
E Inertial Navigation Position Y-Axis Component
D Inertial Navigation Position Z-Axis Component
C b /n Direction Cosine Matrix of the Body Frame with respect to the Navigation
Frame
e n
p Position Vector of Navigation Frame Derivative taken with respect to the Earth
Fixed Frame
v bCM / e Velocity Vector in the body frame of the Center-of-Mass with respect to the
Fixed Earth
Rotational Rate Vector
Rotational Rate Derivative Vector

b
b /e Rotational Rate Vector expressed in the Body Frame of the Body with respect
to the Fixed Earth

b b
v
CM / e Velocity Vector Body Derivatives in the Body Frame of the Center-of-Mass
with respect to the Fixed Earth
m Mass of Vehicle
b
F A ,T Aerodynamic and Thrust Force Vector expressed in the Body Frame
n
g Gravity Vector in the Navigation Frame
b
b/ e Cross Product Matrix of Rotational Rates in the Body Frame of the Body with
respect to the Fixed Earth

b
bb / e
Rotational Rate Vector Body Derivative in the Body Frame of the Body with
respect to the Fixed Earth

b
M A ,T Aerodynamic and Thrust Moment Vector expressed in the Body Frame
Jb Mass Moment of Inertia Tensor in the Body Frame

e n
p Navigation Position Vector expressed in the Earth Fixed Frame
19
Chapter 1: Introduction
The first step in developing a compensation scheme for a dynamic system is to
create a mathematical model of the dynamic system or plant. For an aerospace vehicle,
developing a mathematical model requires knowledge of the physical characteristics such
as weight, mass properties and aerodynamic parameters. Until the 1970's most
aerodynamic coefficients were obtained from wind tunnel data or through system
identification techniques.[1] Today's computers make it possible to use Computational
Fluid Dynamics (CFD) modeling to generate the aerodynamic coefficients of an
aerospace vehicle.
One method to compute the aerodynamic coefficients of the aircraft is to use the
United States Air Force Data Compendium (DATCOM)[2]. DATCOM was introduced
in the 1970's as a handbook containing tabular aerodynamic coefficients for different
vehicle geometries. The user builds the aerodynamic model from the characteristics of its
components, such as the Aspect Ratio of the wing planform, geometry and location of the
stabilizing and control surfaces, as well as the shape of the fuselage. The DATCOM
handbook was implemented as a computer code, entitled Digital DATCOM, written in
the Fortran language.[3]
Digital DATCOM is a set of computer codes that creates a composite
aerodynamic model based on the user input geometry. The latest version of the United
States Air Force Data Compendium, Missile DATCOM, allows the user to model more
abstract vehicle geometries, as well as expanding the environmental envelope.[4]
1.1 Overview
20
The Avionics Research Center at Ohio University purchased an unmanned aerial
vehicle for control and navigation research after the recent expansion in the use of
unmanned aerial vehicles for data collection and deployment in hazardous environments.
The unmanned aerial vehicle purchased from the University of Sydney during the 1990's
is a Brumby MK I.[1] The Brumby Unmanned Ariel Vehicle (UAV) provides an ideal
platform for aircraft control and navigation research. The Brumby UAV has a delta wing
planform with twin vertical stabilizers, the contour of the fuselage is that of a cylinder
with a blunted ogive nose. This makes creating a Missile DATCOM model a relatively
straight forward task. The delta wing also contains the Ailevons (aileron and elevator
control on one control surface). The change in deflection angles create changes in the lift,
drag, roll, and pitch coefficients of the main lifting planform. This causes the angle-of-
attack and side-slip angle to be coupled with the deflection angles of the ailevons. This
creates a nonlinear aircraft model, that is an ideal system for a non-linear control research
platform.
1.2 Motivation
There are many methods available to obtain an aerodynamic model of an aerospace
vehicle. Methods such as system identification require data to be taken while the vehicle
is operating over a predefined envelope. This method requires that a physical model be
constructed and operated in the environment for which the aerodynamic model is desired.
This can be costly and very time consuming. It may not be possible to fly the model over
all the desired flight envelopes. Other options such as wind tunnel data also require that a
model be built and tested. Traditionally, full sized aircraft must be scaled down to meet
21
the size constraints of the wind tunnel. Some unmanned UAV's are small enough to fit
inside the wind tunnel at full scale. Since the model is full sized and full functioning,
forces and moments as well as derivatives for control surface deflection angles may be
measured. All of these methods require that a new model be constructed, and retested for
changes in vehicle geometry.
By using a computational fluid dynamics prediction code it is possible to obtain
aerodynamic coefficients for various vehicle geometries over a wide range of
environmental conditions without the cost or inconvenience associated with wind tunnel
testing. CFD prediction codes can generate aerodynamic coefficients in a shorter time
period and at a lower monetary cost. While computational fluid dynamic prediction codes
may not capture all the nonlinearities of the aerodynamics, the model is still valid and
useful.
1.3 Modeling Aerodynamic Forces and Moments
The processing power of todays computers make it possible to model the
aerodynamic forces and moments using computational fluid dynamics prediction codes.
These codes allow the user to create software models of the aircraft and generate the
forces and moments using only a computer. These mathematical models can then be used
to analyze the dynamic behavior of the aircraft. These models allow the control system
engineer to create compensation schemes that will cause the aircraft to have more
desirable dynamics. For example the aircraft may not respond to inputs fast enough, there
may be an undesirable steady-state error to a control input, or the systems response to
disturbance inputs may need to be analyzed, e.g. wind gusts.

22
1.4 Objectives
The reader of this thesis will be able to generate aerodynamic force and moment
coefficient data using USAF Missile DATCOM. The reader will be exposed to the basic
definitions and terminology of USAF Missile DATCOM. This data will then be
integrated into a six degree-of-freedom Simulink simulation where the model will be
analyzed for static as well as dynamic stability. The reader should have an understanding
of the basic concepts required for modeling and simulation of an aircraft using
computational fluid dynamic modeling.
1.5 Thesis Organization
The control system engineer must create an accurate model of a mechanical system
before a control system can be designed. Modeling the aerodynamic behavior of an
aircraft typically requires a scale model of the aircraft be built and placed in a wind
tunnel where forces are measured. It may be difficult for researchers in aircraft control
system design to gain access to a wind tunnel or be able to fund the building of a scale
model. Computational fluid dynamics allows the researcher the ability to model the
aircraft without the trouble or expense of creating scale models or obtaining testing time
in a wind tunnel. This thesis will cover the topic of creating an aerodynamic model using
a computational fluid dynamics prediction code.
1.5.1 Missile DATCOM Input Parameters
In order to use the CFD prediction code the user must understand the dimensions and
variables that are needed to create the model using USAF Missile DATCOM. The
physical dimensions of the aircraft are required, such as the lengths of the planforms, the
23
dimensions of the control surfaces, the location of the center-of-mass to name a few. This
will be illustrated through use of an example in Chapter 2.
1.5.2 Missile DATCOM Model of the Brumby UAV
The Ohio University Avionics Center conducts research using a Brumby UAV
aircraft. This aircraft model is used to perform guidance and navigation research. The
Brumby UAV will be modeled using Missile DATCOM in Chapter 3.
1.5.3 Equations of Motion
The equations of motion for a moving body in 3-dimensions will be presented in
Chapter 4. These equations describe the effect of the forces and moments on the aircraft.
The equations of motion will be used to create a six degree-of-freedom simulation.
1.5.4 Brumby UAV Model Simulation
The Missile DATCOM model of the Brumby UAV will be simulated, analyzed, and
subjected to perturbations from equilibrium in Chapter 5. The model will first be trimmed
for straight wings level flight. Wings level flight is typical of an aircraft that is traversing
between way points. The eigenvalues of the straight wings level flight trim condition will
be evaluated as well as an explanation of the dynamics of the aircraft. The model will
then be trimmed for a coordinated turn with a constant rate of climb. Finally, the Brumby
UAV model will be subjected to input perturbations and the aircraft dynamics will be
observed.
24
Chapter 2: Missile DATCOM Modeling Parameters
Overview
In this chapter a description of Missile DATCOM terminology and variables will
be presented. Due to the large number of possible geometric configurations, only
terminology and variables needed to create a model of the Brumby Unmanned Aerial
Vehicle (UAV) in Chapter 3 will be discussed. The reader is directed to Reference [4]
for more information on other geometric possibilities or for an expanded list of options
for the discussed variables.
User vehicle geometric configuration and flight condition specifications are input
to Missile DATCOM using a text file. Missile DATCOM parses the input file looking for
predefined Namelists that it associates to internal variables. Missile DATCOM requires
only a minimal number of Namelists be used to define the vehicle geometry. Over-
specification of the geometry can generate numerical instability of some calculations in
Missile DATCOM.[4] Missile DATCOM allows the user to set the units that will be
used for the calculations, as well as managing additional output data that can be
calculated through the use of control cards. Control cards are valid only in the case in
which they appear unless the user saves the current case using the SAVE control card.
This allows the user to use different control cards for different cases. A list of control
cards used when creating the model in Chapter 3 is given in Table 2.1. Missile DATCOM
will generate output data based on the commands in the input file that is used. The output
file will contain aerodynamic coefficients, and may also contain dynamic damping
derivative coefficients if the DAMP control card was used.

25
It is important to understand the coordinate system that will be used in describing
the geometry of the vehicle in question. Let the center of gravity lie inside the vehicle and
let it be at the intersection of the longitudinal plane of symmetry and the lateral plane of
symmetry if it exists. Then Missile DATCOM designates the positive x-axis as being
positive increasing aft from the tip of the nose, the positive y-axis as increasing along the
starboard wing, and the positive z-axis as increasing in a manner that it obeys the right
hand rule. This coordinate system is shown in Figure 2.1. Missile DATCOM allows the
user to place the origin of the coordinate system a specified distance from the tip of the
nose along the x-axis by assigning X0 a non-zero value. If no value is assigned to X0
then Missile DATCOM will use the default value of 0.0 units of distance.
Figure 2.1: Missile DATCOM Axes Definition

26
Table 2.1: Missile DATCOM Control Cards
Control Cards Description Values

DIM Sets the system of length dimension Units (L) M,CM,FT,IN
DERIV Sets the output derivative Units DEG,RAD
INCRMT Calculates correction factors for coefficients on the N/A
first run, based on experimental data given in EXPR.
NOGO Allows program to cycle through input cases without N/A
computing configuration Aerodynamics
NO LAT Inhibits computation of lateral-directional derivatives, N/A
if DAMP is selected
PLOT Creates data file for003.dat, containing aerodynamic N/A
data for plotting.
BUILD Prints results of a configuration build-up N/A
CASEID User supplied title output for that case Brumby Flaps
DAMP Computes dynamic damping derivatives. N/A
DELETE name Ignore namelist saved from previous case Namelist value
NAMELIST Prints all Namelist data N/A
NEXT CASE Indicates termination of the case input. N/A
PART Prints partial aerodynamic output. N/A
PRINT AERO name Prints the incremental aerodynamics for name. BODY,FIN1,etc.
For more options see reference Page 23.
PRINT GEOM name Prints the geometric characteristics of component BODY,FIN1,etc.
name.
For more options see reference Page 23.
SAVE Saves namelist values from previous case.
TRIM Calculates fin deflection angles for longitudinal trim N/A
condition.
NACA Allows use of predefined NACA airfoil types to be 2412
used as airfoil geometries
2.1 Flight Conditions
Missile DATCOM allows the user to specify the flight conditions in namelist
FLTCON, for which the aerodynamic data will be calculated. The user places the angles-
of-attack values in the ALPHA array, and the Mach values in the MACH array. The size
27
of the MACH array is stored in NMACH and the size of the ALPHA array is stored in
NALHPA. For each vehicle scenario that Missile DATCOM executes, aerodynamic
coefficients will be computed for all combinations of defined Mach and angle-of-attack.
A matrix will be created for each aerodynamic coefficient with NMACH columns and
NALPHA rows. Only one side-slip angle can be run for each case and is stored in the
BETA variable. In order to simplify data input, only a core set of flight condition data
needs to be input by the user. For the model that will be generated in Chapter 3, only
values for Mach and altitude are required. From these values Missile DATCOM will
calculate the internal variable values needed to perform the aerodynamic calculations. A
list of variables from namelist FLTCON that are used are given in Table 2.2.
Table 2.2: Missile DATCOM Namelist FLTCON
Variable Name Array Size Description Units Default

Value
NALPHA - Number of angles of attack - -
ALPHA 20 angle-of-attack Deg -
BETA - side-slip angle Deg 0.0
PHI - Aerodynamic roll angle Deg 0.0
NMACH - Number of Mach values - -
MACH 20 Mach Values - -
ALT 20 Altitude values L 0.0
Missile DATCOM also requires that parameter values be specified by the user for
referencing and scaling purposes. Missile DATCOM will generate aerodynamic
coefficients that have been non-dimensionalized with respect to the reference values. The
reference variables used for the model in Chapter 3 are listed in Table 2.3. Typically, the
28
values used for SREF, LREF, and LATREF on a traditional aircraft are wing planform
area, mean wing chord length, and wing span length respectively.
Table 2.3: Missile DATCOM Namelist REFQ
Variable Name Description Units Default Value

SREF Reference Area L*L Maximum body cross-
sectional area
LREF Longitudinal Reference Length L Maximum body diameter
LATREF Lateral reference length L LREF
XCG Longitudinal position of Center of Gravity (+aft) L 0.0
ZCG Vertical Position of Center of Gravity (+up) L 0.0
2.2 Fuselage
Missile DATCOM allows for axially symmetric or elliptical body shapes. These
body shapes can either be input using body diameter and length if the body has a
continuous radius along the body, and trailing nozzle sections, or the body geometry can
be input at different longitudinal stations. These options provide a great deal of
flexibility. The variables used in creating the axial body model in Chapter 3 are listed in
Table 2.4.
29
Table 2.4: Missile DATCOM Namelist AXIBOD
Variable Name Description Units Default Value

XO Longitudinal coordinate of nose tip. L 0.0
TNOSE Type of nose shape. - OGIVE
LNOSE Nose length L -
DNOSE Nose diameter at base L 1.0
BNOSE Bluntness radius L 0.0
LCENTR Center body length L 0.0
DCENTR Center body diameter at base L DNOSE
2.3 Primary Lifting Surface
Traditional aircraft typically have a geometry that consists of: a body, a wing,
vertical and horizontal stabilizing and control surfaces. Missile DATCOM describes
each planform surface as a finset that is located at a defined position on the body. Missile
DATCOM allows for four finsets, each finset can contain a total of eight panels. Using
this method, the fin geometry must only be defined once. Then the position of each fin on
the body must be specified. Missile DATCOM will not check to see if Finset1 is fore or
aft of Finset2 when it performs an error analysis. Placing Finset2 fore of Finset1 will
cause errors in the interference flow calculations from one fin to the next. Finset1 will be
the foremost finset, which on a traditional aircraft without canards will be the wing
planform. We will start out by describing the planform geometry and then describe the
position of each panel around the body. A basic set of variables are listed in Table 2.5.
30
Table 2.5: Missile DATCOM Namelist FINSET
Variable Name Array Size Description Units Default Value

XLE 10 Distance from nose to chord L 0.0
leading edge
CHORD 10 Panel chord at each semi-span L -
station
SSPAN 10 Semi-span locations L -
CFOC 10 Flap chord to Fin chord ratio - 1.0
NPANEL 8 Number of panels in fin set (1-8) - 4.0
PHIF 8 Roll angle of fin about body, Deg Even spacing
Clockwise is positive angle. around body.
GAM 8 Dihedral angle of each fin, Deg 0.0
Positive angle when PHIF is
Figure 2.2:increased
Missile DATCOM Body Variables
SECTYPE - Type of airfoil section. - HEX
STA 10 Sweep back angle at each span Deg. 0.0
station.
SWEEP 10 Chord station used in - 1.0
measuring sweep:
STA=0.0 is leading edge
STA=1.0 is trailing edge
It is important to note that when a fin panel PHIF value is greater than 180
degrees, see Figure 2.4, and has a SECTYPE of NACA (National Advisory Committee
for Aeronautics), the airfoil of the fin will also be rotated. This rotation will cause a
positive angle-of-attack to be seen by both the port and starboard panels. The NACA
control card uses the form NACA 1-4-2412, where the first number designates the finset,
in this case FINSET1. The second number designates the NACA series of airfoil, for this
example this is a NACA 4 series. The last number is the NACA airfoil section
designation. For a NACA 4 series the first number is the camber in percent of the chord
31
length, the second is the location of maximum camber aft from the leading edge in tens of
percent of the chord length, and the last two digits are the maximum chord thickness
locate at the point of maximum camber. Figure 2.4 is an example of an airfoil that has 2%
camber, with 12% thickness located at 4% aft of the leading edge.[5]
Figure 2.2: Missile DATCOM Finset
Figure 2.3: NACA Airfoil Number Decomposition

32
If the wing has a continuous sweep along its leading edge it is possible to only
define XLE for the root chord of the wing. Missile DATCOM only requires that XLE(1)
be defined if the user inputs the sweep back angle for each span station using the SWEEP
namelist. Missile DATCOM will determine that the planform has continuous sweep
between semi-span stations and will calculate the XLE values from one semi-span station
to the next. In order to place the fin panels directly on the body mold line, start the semi-
span at 0.0 and allow each additional element in the SSPAN array to be the distance from
the body mold line to that semi-span station. By setting the first semi-span location at
zero Missile DATCOM will place the panel directly on the body. Care must be taken in
defining SSPAN(1) to be a distance other than the body mold line, SSPAN(1) = 0.0. The
user must ensure that the panel is attached to the body, otherwise there may be a gap
between the body and the root chord of the panel. Missile DATCOM will not check to
see if the panel is attached to the body. Missile DATCOM will not allow cracked panels
or the airfoil shape to change over the panel. In Section 2.6 the method for placing
control surfaces on a planform will be discussed.

33
Figure 2.4: Missile DATCOM Fin Panel Location Definition
2.4 Horizontal Stabilizer
It is possible to define a horizontal stabilizing surface using the same method
described in Section 2.3. For this reason the reader is referred to Section 2.3 for details on
creating horizontal stabilizing planforms. In this section horizontal stabilizers that do not
lie in the same horizontal plane as the wing planform will be defined. It is possible to
create a horizontal stabilizer that is positioned on top of a vertical stabilizer. Because
error analysis used in Missile DATCOM does not check to see if a finset is actually
located on the body, it is possible to create what is known as a T-tail configuration. This
is accomplished by using two panels and setting the two PHIF values to 0.0 degrees.
Then set the SSPAN(1) value to be the distance from the center of the body to the root
chord of the horizontal stabilizer. This value would be 0.0 in most cases so that the root
chord would be located on the x-z plane. However, if the SSPAN(1) value is 0.0 Missile
34
DATCOM will place the root chord on the body. This means that the SSPAN(1) value
must be arbitrarily small so that it will reside as near as possible to the x-z plane. The
starboard fin will have a GAM value of 90.0 degrees and the port fin will have a GAM
value of -90.0 degrees. Figure 2.6 contains an illustration of the variables associated with
defining a a twin-vertical stabilizer.
It is also possible to create what is typically known as a V-tail configuration. This
can be accomplished in a manner similar to the method discussed in Section 2.3, with the
exception that the fin planforms are located symmetrically about the x-z plane, and
dihedral angle is zero.
Figure 2.5:Twin-Horizontal Stabilzer Fin Panel Location Definition

35
Figure 2.6:V-Tail Stabilzer Fin Panel Location Definition
2.5 Vertical Stabilizer
It is also possible to create a single vertical stabilizer or twin vertical stabilizers.
In the case of a single vertical stabilizer NPANEL would have a value of 1.0 and both
PHIF and GAM would be 0.0 degrees. This situation would indicate that the fin planform
is aligned with the z-axis and that the dihedral angle is zero. These twin vertical
stabilizers can also be placed off of the body and onto another panel, using a similar
method as described in the previous section. The first element in the SSPAN array is the
distance from the centerline of the body to the location of the root chord of the stabilizer.
To place the stabilizers on another planform the PHIF angles must be the same, e.g. the
PHIF starboard wing is equal to the PHIF angle of the starboard stabilizer. This ensures
that the root chord is placed on the existing panel. The roll angle PHIF would contain
values of 90.0 degrees for the starboard fin and -90.0 degrees for the port fin. The
dihedral values GAM would be used to roll the fins into vertical positions. This would be
accomplished by setting the starboard GAM value to be -90.0 degrees and the port GAM
value to be 90.0 degrees.

36
Figure 2.7:Twin-Vertical Stabilzer Fin Panel Location Definition
2.6 Control Surfaces
It is often useful and at times necessary to know the contribution of the deflection
angles of the control surfaces to the aerodynamic coefficients. To determine the size of
each control surface on the fin panel, care must be given in defining the fin. First, the
semi-span stations should be defined for all control surface demarcation points along the
planform. It is necessary to define semi-span, chord, and flap chord to fin chord ratio
laterally for each control surface. For a fin planform having a single flap located between
the root and tip chord, it is necessary to define four semi-station points, four chord values
at those station points, and four flap chord to fin chord ratio values. In this particular
example, shown in Figure 2.6, the break between the flap and the chord does not lie on
either the root or the tip chord. Because the length of the flap at the root and tip of the
37
wing is zero, both the first and last values of the CFOC array will contain zeros. The
entire stabilizer can be made a movable control surface by setting the values of CFOC to
1.0. This indicates to Missile DATCOM that the flap chord is the total length of the fin
chord, and therefore the entire panel is movable.
In order to set the control surface deflection, Missile DATCOM uses the DEFLCT
namelist that can been seen in Table 2.6. Only the control surfaces that have been defined
should have their deflection values set, any control surface not defined by the user will
have its respective deflection angle set to zero internally by Missile DATCOM. Missile
DATCOM will perform calculations over all eight panels in each of the four finsets. Any
undefined panel is assigned zero length and does not contribute to the aerodynamic
coefficients being calculated. Assuming the panel is placed with the root chord located on
the body and the fin is perpendicular to the x-axis, then the deflection angles are defined
as positive if they induce a negative body axis rolling moment. A negative body axis
rolling moment is defined as counterclockwise when viewed along the x-axis looking
forward toward the nose. This is valid for all flaps regardless of orientation. The
deflection angle for flaps that are not located on the body are defined as if the fins are
located axially around the x-axis.

38
Figure 2.8: Missile DATCOM Control Surface Definition
Table 2.6: Missile DATCOM Namelist DEFLCT
Variable Name Array Size Description Units Default Value

DELTA1 8 Deflection values for Finset1 Deg. 0.0
2.7 Generating Additional Data
Some of the limitations in Missile DATCOM can be overcome by running the
vehicle again in a new case while only changing one value. An example would be to
handle more than one side-slip angle. Even though Missile DATCOM will only consider
one side-slip value per case, by running multiple cases and only changing the side-slip
39
value in each case Missile DATCOM will generate data for those side-slip angles. This
becomes especially useful when data for different control surface deflection angles are
desired. By saving the previous vehicle geometry using the SAVE control card, then
overwriting the deflection angle, Missile DATCOM will calculate the aerodynamic
coefficients for the new vehicle configuration.
2.8 File Format and Content
Missile DATCOM uses space delimiting as a method for distinguishing namelists
from control cards. Only a control card should be placed in the first character of a column
in the input file. Namelists should allow one space for the first column and should should
then start and end with a dollar sign ($). Variables in a namelist are separated using
commas and a comma must precede the terminating dollar sign of the namelist. A row
can only contain eighty characters including symbols and blank spaces. Values assigned
to variables must always contain a decimal point, for a value of zero the leading zero is
necessary, while a zero after the decimal point is not. In order for the case to be executed
a NEXT CASE control card must be inserted at the end of each case, including the last
case. Table 2.7 gives a brief explanation of the input and output files created and required
for execution by Missile DATCOM.
The for005.dat file is the input file to Missile DATCOM and contains the control
cards as well as the namelists that are used to describe the vehicle. The for005.dat file for
the Brumby MK. I is listed in Appendix A.1.
The for006.dat file contains two copies of the for005.dat file as well as the output
for the cases to be executed by Missile DATCOM. The first listing is a copy of the
40
for005.dat file and the second is the for005.dat file containing error checking markups.
The for003.dat file contains the aerodynamic coefficients for the cases executed
by Missile DATCOM. The Columns of the for003.dat file are: Angle-of-Attack
(ALPHA), Normal Force Coefficient (CN), Pitching Moment Coefficient (CM), Axial
Force Coefficient (CA), Side-Force Coefficient (CY), Yawing Moment Coefficient
(CLN), Rolling Moment Coefficient (CLL) , Deflection Angle for zero Pitching Moment
(DELTA), Lift Coefficient (CL), and Drag Force Coefficient (CD). The rows correspond
to the angle-of-attack values ALPHA. Missile DATCOM will generate a matrix of
ALPHA rows and coefficient columns for each MACH value specified, for each case that
is executed.
The for0021.dat file contains all of the necessary aerodynamic coefficients that
would be required to create a nonlinear vehicle simulation using a build up of the
individual components. The for021.dat file contains a row of variables: Mach, altitude,
side-slip angle, the deflection angles for the flaps, the number of rows of data, the total
columns of data, and finally the number of columns of derivatives. The variables are
immediately followed by the angle-of-attack (ALPHA) and the aerodynamic coefficients
which are: normal force coefficient (CN), pitching moment coefficient (CM), axial force
coefficient (CA), side force coefficient (CY), yawing moment coefficient (CLN), rolling
moment coefficient (CLL), normal force due to pitch rate (CNQ), pitching moment due
to pitch rate (CMQ), axial force due to pitch rate (CAQ), side force due to yaw rate
(CYR), yawing moment due to yaw rate (CLNR), rolling moment due to yaw rate
(CLLR), side force due to roll rate (CYP), yawing moment due to roll rate (CLNP),
41
rolling moment due to roll rate (CLLP). Aerodynamic derivatives are only calculated for
the base model, where the deflection angles for the effectors are set to zero. The base
model is immediately followed by coefficients for each case that is executed by Missile
DATCOM.
Table 2.7: Missile DATCOM File Definitions
Filename Description
For005.dat User input file.
For006.dat Output file containing results from error checking and calculations.
For003.dat Output file generated by PLOT control card, containing calculated aerodynamic
coefficients.
For021.dat Output file to be used with Air Force program DATCOMTableMEX.dll
2.9 Missile DATCOM Example
In this section an example missile from the Missile DATCOM user manual will
be presented.[4] This particular missile is axially body symmetric with four panels
equally distributed around the body. The dimensions are in inches (DIM IN). The
envelope in consideration is MACH values 0.4, 0.8, 2.0 (MACH= 0.4, 0.8, 2.0) and
angles of attack -8.00, -4.00, 0.00, 4.00, 8.00 (ALPHA=-8.00, -4.00, 0.00, 4.00, 8.00) at
an altitude of zero meters (ALT=0.0) with a side-slip angle of zero degrees (BETA=0.0).
The center of gravity lies 39.0 inches from the origin which is located at the tip of the
nose (XCG=39.0). The body of the missile is 54.0 inches long (LCENTR=54.0) and 12.0
inches in diameter (DCENTR=12.0). The nose of the missile is ogive in shape
(TYPE=OGIVE) and is 12.0 inches long (LNOSE=12.0) and has a base diameter of 12.0
42
inches (DNOSE=12.0). The missile has four fins that are evenly distributed around the
body. The Fins have a NACA airfoil shape with a NACA number of 0310
(SECTYP=NACA and NACA-1-4-0310). The leading edge of the fin at the first semi-
span locate is 64.0 inches from the nose (XLE=64.0).The semi-span values of the fins are
0.0 at the root and 9.0 inches at the tip (SSPAN=0.0, 9.0,). The chord length at the root is
14.0 inches and 8.0 inches at the tip (CHORD=14.0, 8.0). The sweep angle of the fins are
0.0 degrees and are measured with respect to the segment trailing edge (SWEEP=0.0 and
STA=1.0). There are four fin panels located at 45.0, 135.0, 225.0, 315.0 degrees around
the body (NPANEL=4.0, PHIF=45.0, 135.0, 225.0, 315.0, GAM=0.00, 0.00, 0.00, 0.00).
The fins have a control flap with a a constant cord to flap ratio of 0.25 that starts at the
second station point and runs to the tip of the chord (CFOC=0.0, 0.25, 0.25, 0.25). Data
must also be generated for a condition where the two fins that are facing horizontal have
a deflection that would cause the missile to pitch nose up (SAVE, NEXT CASE,
CASEID PANEL DEFLECTION, $DEFLCT DELTA1=5.0, 0., 0., -5.0, $, SAVE, NEXT
CASE). This case is presented in Figure 2.8. The for006.dat file is listed in Figures 2.9
through 2.33. Figures 2.34 and 2.35 show listings for the for003.dat and for021.dat files
respectively.
43
CASEID Example
DAMP
PLOT
DIM IN
DERIV RAD
$FLTCON NMACH=3.0,ALT=0.,NALPHA=5.0,
MACH =0.4,0.8,2.0,
ALPHA = -8.00,-4.00,0.00,4.00,8.00,
BETA=0.,$
$REFQ XCG=39.0,$
$AXIBOD TNOSE=OGIVE,LNOSE=12.0,DNOSE=12.0,LCENTR=54.0,DCENTR=12.0,$
$FINSET1 SECTYP=NACA,
SSPAN=0.0,9.0,
CHORD=14.0,8.0,
XLE=64.0,
SWEEP=0.0,
STA=1.0,
NPANEL=4.,
PHIF=45.0,135.0,225.0,315.0,
GAM=0.00,0.00,0.00,0.00,
CFOC=0.0,0.25,0.25,0.25,$
NACA-1-4-0310
SAVE
NEXT CASE
CASEID PANEL DEFLECTION
DAMP
$DEFLCT DELTA1=5.0,0.,0.,-5.0,$
SAVE
NEXT CASE
Figure 2.9: for005.dat File Example

44
1 ***** THE USAF AUTOMATED MISSILE DATCOM * REV 01/06 *****

AERODYNAMIC METHODS FOR MISSILE CONFIGURATIONS
CONERR - INPUT ERROR CHECKING
ERROR CODES - N* DENOTES THE NUMBER OF OCCURENCES OF EACH ERROR

A - UNKNOWN VARIABLE NAME
B - MISSING EQUAL SIGN FOLLOWING VARIABLE NAME
C - NON-ARRAY VARIABLE HAS AN ARRAY ELEMENT DESIGNATION - (N)
D - NON-ARRAY VARIABLE HAS MULTIPLE VALUES ASSIGNED
E - ASSIGNED VALUES EXCEED ARRAY DIMENSION
F - SYNTAX ERROR
************************* INPUT DATA CARDS *************************
1 CASEID Example
2 DAMP
3 PLOT
4 DIM IN
5 DERIV RAD
6 $FLTCON NMACH=3.0,ALT=12*0.,NALPHA=5.0,
7 MACH =0.4,0.8,2.0,
8 ALPHA = -8.00,-4.00,0.00,4.00,8.00,
9 BETA=0.,$
10 $REFQ XCG=39.0,$
11 $AXIBOD TNOSE=OGIVE,LNOSE=12.0,DNOSE=12.0,LCENTR=54.0,DCENTR=12.0,$
** SUBSTITUTING NUMERIC FOR NAME OGIVE
12 $FINSET1 SECTYP=NACA,
** SUBSTITUTING NUMERIC FOR NAME NACA
13 SSPAN=0.0,9.0,
14 CHORD=14.0,8.0,
15 XLE=64.0,
16 SWEEP=0.0,
17 STA=1.0,
18 NPANEL=4.,
19 PHIF=45.0,135.0,225.0,315.0,
20 GAM=0.00,0.00,0.00,0.00,
21 CFOC=0.0,0.25,0.25,0.25,$
22 NACA-1-4-0310
23 SAVE
24 NEXT CASE
25 CASEID PANEL DEFLECTION
26 DAMP
27 $DEFLCT DELTA1=5.0,0.,0.,-5.0,$
28 SAVE
29 NEXT CASE
Figure 2.10: for006.dat File Example (Data Input)

45
1 ***** THE USAF AUTOMATED MISSILE DATCOM * REV 01/06 ***** CASE 1
AERODYNAMIC METHODS FOR MISSILE CONFIGURATIONS PAGE 1
CASE INPUTS
FOLLOWING ARE THE CARDS INPUT FOR THIS CASE
CASEID Example
DAMP
PLOT
DIM IN
DERIV RAD
$FLTCON NMACH=3.0,ALT=12*0.,NALPHA=5.0,
MACH =0.4,0.8,2.0,
ALPHA = -8.00,-4.00,0.00,4.00,8.00,
BETA=0.,$
$REFQ XCG=39.0,$
$AXIBOD TNOSE=1.,LNOSE=12.0,DNOSE=12.0,LCENTR=54.0,DCENTR=12.0,$
$FINSET1 SECTYP=1.,
SSPAN=0.0,9.0,
CHORD=14.0,8.0,
XLE=64.0,
SWEEP=0.0,
STA=1.0,
NPANEL=4.,
PHIF=45.0,135.0,225.0,315.0,
GAM=0.00,0.00,0.00,0.00,
CFOC=0.0,0.25,0.25,0.25,$
NACA-1-4-0310
SAVE
NEXT CASE
* WARNING * THE REFERENCE AREA IS UNSPECIFIED, DEFAULT VALUE ASSUMED
* WARNING * THE REFERENCE LENGTH IS UNSPECIFIED, DEFAULT VALUE ASSUMED
THE BOUNDARY LAYER IS ASSUMED TO BE TURBULENT
THE INPUT UNITS ARE IN INCHES, THE SCALE FACTOR IS 1.0000
Figure 2.11: for006.dat File Example (Error Checking)

46
Example
STATIC AERODYNAMICS FOR BODY-FIN SET 1
******* FLIGHT CONDITIONS AND REFERENCE QUANTITIES *******

MACH NO = 0.40 REYNOLDS NO = 2.827E+06 /FT
ALTITUDE = 0.0 FT DYNAMIC PRESSURE = 237.02 LB/FT**2
SIDESLIP = 0.00 DEG ROLL = 0.00 DEG
REF AREA = 113.097 IN**2 MOMENT CENTER = 39.000 IN
REF LENGTH = 12.00 IN LAT REF LENGTH = 12.00 IN
----- LONGITUDINAL ----- -- LATERAL DIRECTIONAL --

ALPHA CN CM CA CY CLN CLL
-8.00 -1.200 1.360 0.032 0.000 0.000 0.000

-4.00 -0.585 0.682 0.091 0.000 0.000 0.000
0.00 0.000 0.000 0.113 0.000 0.000 0.000
4.00 0.585 -0.682 0.091 0.000 0.000 0.000
8.00 1.200 -1.360 0.032 0.000 0.000 0.000
ALPHA CL CD CL/CD X-C.P.
-8.00 -1.183 0.199 -5.943 -1.134

-4.00 -0.578 0.131 -4.399 -1.165
0.00 0.000 0.113 0.000 -1.165
4.00 0.578 0.131 4.399 -1.165
8.00 1.183 0.199 5.943 -1.134
X-C.P. MEAS. FROM MOMENT CENTER IN REF. LENGTHS, NEG. AFT OF MOMENT
CENTER
Figure 2.12: for006.dat File Example (Case 1 Output, Page 2)

47
Example

---------- DERIVATIVES (PER RADIAN) ----------

ALPHA CNA CMA CYB CLNB CLLB
-8.00 9.0007 -9.6911 -9.3921 11.8173 0.2469
-4.00 8.5908 -9.7420 -8.7265 10.6220 -0.0021
0.00 8.3861 -9.7675 -8.1787 9.3495 0.0000
4.00 8.5908 -9.7420 -8.7265 10.6220 0.0021
8.00 9.0007 -9.6911 -9.3921 11.8173 -0.2469
PANEL DEFLECTION ANGLES (DEGREES)

SET FIN 1 FIN 2 FIN 3 FIN 4 FIN 5 FIN 6 FIN 7 FIN 8
1 0.00 0.00 0.00 0.00

48
Example
BODY + 1 FIN SET DYNAMIC DERIVATIVES

------------ DYNAMIC DERIVATIVES (PER RADIAN) -----------

ALPHA CNQ CMQ CAQ CNAD CMAD
-8.00 42.648 -93.625 3.424 26.852 -13.587
-4.00 40.731 -88.833 0.820 26.852 -13.587
0.00 42.257 -92.660 -2.175 26.852 -13.587
4.00 44.700 -98.776 -4.956 26.852 -13.587
8.00 44.992 -99.495 -7.183 26.852 -13.587
PITCH RATE DERIVATIVES NON-DIMENSIONALIZED BY Q*LREF/2*V

49
Example


ALPHA CYR CLNR CLLR CYP CLNP CLLP
-8.00 43.645 -96.560 0.057 -0.036 0.090 -13.514
-4.00 42.541 -93.804 0.022 -0.003 0.008 -12.558
0.00 42.082 -92.660 0.000 0.000 0.000 -11.496
4.00 42.541 -93.804 -0.022 0.003 -0.008 -12.558
8.00 43.645 -96.560 -0.057 0.036 -0.090 -13.514
YAW AND ROLL RATE DERIVATIVES NON-DIMENSIONALIZED BY R*LATREF/2*V

50
Example


-8.00 -1.233 1.421 0.053 0.000 0.000 0.000

-4.00 -0.604 0.721 0.110 0.000 0.000 0.000
0.00 0.000 0.000 0.132 0.000 0.000 0.000
4.00 0.604 -0.721 0.110 0.000 0.000 0.000
8.00 1.233 -1.421 0.053 0.000 0.000 0.000
-8.00 -1.214 0.224 -5.416 -1.152

-4.00 -0.595 0.152 -3.922 -1.192
0.00 0.000 0.132 0.000 -1.192
4.00 0.595 0.152 3.922 -1.192
8.00 1.214 0.224 5.416 -1.152
CENTER

51
Example


-8.00 9.1791 -9.8874 -9.5764 12.0985 0.2753
-4.00 8.8313 -10.1771 -8.9663 11.0908 -0.0019
0.00 8.6575 -10.3220 -8.4680 9.9592 0.0000
4.00 8.8313 -10.1771 -8.9663 11.0908 0.0019
8.00 9.1791 -9.8874 -9.5764 12.0986 -0.2753

1 0.00 0.00 0.00 0.00

52
Example


-8.00 43.540 -102.509 3.557 26.878 -12.015
-4.00 41.891 -98.416 0.865 26.878 -12.015
0.00 43.305 -101.938 -2.236 26.878 -12.015
4.00 45.350 -107.020 -5.121 26.878 -12.015
8.00 45.141 -106.492 -7.429 26.878 -12.015

53
Example


-8.00 44.153 -104.500 0.007 -0.032 0.078 -13.994
-4.00 43.433 -102.718 0.020 -0.003 0.008 -13.173
0.00 43.117 -101.938 0.000 0.000 0.000 -12.190
4.00 43.433 -102.718 -0.020 0.003 -0.008 -13.173
8.00 44.153 -104.501 -0.007 0.032 -0.078 -13.994

*** NOSE TIP ANGLE GREATER THAN MACH ANGLE, HYBRID THEORY INVALID
SECOND ORDER SHOCK EXPANSION TO BE USED

54
Example


-8.00 -1.108 1.049 0.771 0.000 0.000 0.000

-4.00 -0.533 0.569 0.782 0.000 0.000 0.000
0.00 0.000 0.000 0.786 0.000 0.000 0.000
4.00 0.533 -0.569 0.782 0.000 0.000 0.000
8.00 1.108 -1.049 0.771 0.000 0.000 0.000
-8.00 -0.990 0.918 -1.079 -0.946

-4.00 -0.478 0.817 -0.584 -1.067
0.00 0.000 0.786 0.000 -1.067
4.00 0.478 0.817 0.584 -1.067
8.00 0.990 0.918 1.079 -0.946
CENTER

55
Example


-8.00 8.5313 -6.2311 -8.3955 8.8365 0.2574
-4.00 7.9368 -7.5101 -7.8241 8.6319 -0.0007
0.00 7.6400 -8.1515 -7.4963 8.0310 0.0000
4.00 7.9368 -7.5101 -7.8242 8.6319 0.0007
8.00 8.5313 -6.2311 -8.3955 8.8365 -0.2574

1 0.00 0.00 0.00 0.00
BODY ALONE LINEAR DATA GENERATED FROM SECOND ORDER SHOCK EXPANSION
METHOD

56
Example


-8.00 39.342 -108.127 0.000 28.285 -9.526
-4.00 39.022 -107.260 0.000 28.285 -9.526
0.00 40.288 -110.734 0.000 28.285 -9.526
4.00 40.755 -112.006 0.000 28.285 -9.526
8.00 39.578 -108.773 0.000 28.285 -9.526

57
Example


-8.00 39.051 -107.399 0.017 -0.003 0.008 -9.839
-4.00 39.480 -108.582 0.003 -0.002 0.004 -9.678
0.00 39.880 -109.682 0.000 0.000 0.000 -9.191
4.00 39.480 -108.582 -0.003 0.002 -0.004 -9.678
8.00 39.051 -107.399 -0.017 0.003 -0.008 -9.839

58
CASE INPUTS
CASEID PANEL DEFLECTION

DAMP
$DEFLCT DELTA1=5.0,0.,0.,-5.0,$
SAVE
NEXT CASE
* WARNING * THE REFERENCE AREA IS UNSPECIFIED, DEFAULT VALUE ASSUMED
* WARNING * THE REFERENCE LENGTH IS UNSPECIFIED, DEFAULT VALUE ASSUMED
THE INPUT UNITS ARE IN INCHES, THE SCALE FACTOR IS 1.0000
PANEL DEFLECTION


-8.00 -1.200 1.360 0.032 0.000 0.000 0.000

-4.00 -0.585 0.682 0.091 0.000 0.000 0.000
0.00 0.000 0.000 0.113 0.000 0.000 0.000
4.00 0.585 -0.682 0.091 0.000 0.000 0.000
8.00 1.200 -1.360 0.032 0.000 0.000 0.000
-8.00 -1.183 0.199 -5.943 -1.134

-4.00 -0.578 0.131 -4.399 -1.165
0.00 0.000 0.113 0.000 -1.165
4.00 0.578 0.131 4.399 -1.165
8.00 1.183 0.199 5.943 -1.134
CENTER
Figure 2.24: for006.dat File Example (Case 2 Output, Page 1 and 2)

59
PANEL DEFLECTION


-8.00 9.0007 -9.6911 -9.3921 11.8173 0.2469
-4.00 8.5908 -9.7420 -8.7265 10.6220 -0.0021
0.00 8.3861 -9.7675 -8.1787 9.3495 0.0000
4.00 8.5908 -9.7420 -8.7265 10.6220 0.0021
8.00 9.0007 -9.6911 -9.3921 11.8173 -0.2469
FLAP DEFLECTION ANGLES (DEGREES)

1 5.00 0.00 0.00 -5.00
EQUIVALENT PANEL DEFLECTION ANGLES (DEGREES)
1 0.00 0.00 0.00 0.00

60
PANEL DEFLECTION


-8.00 42.648 -93.625 3.424 26.852 -13.587
-4.00 40.731 -88.833 0.820 26.852 -13.587
0.00 42.257 -92.660 -2.175 26.852 -13.587
4.00 44.700 -98.776 -4.956 26.852 -13.587
8.00 44.992 -99.495 -7.183 26.852 -13.587

61
PANEL DEFLECTION


-8.00 43.645 -96.560 0.057 -0.036 0.090 -13.514
-4.00 42.541 -93.804 0.022 -0.003 0.008 -12.558
0.00 42.082 -92.660 0.000 0.000 0.000 -11.496
4.00 42.541 -93.804 -0.022 0.003 -0.008 -12.558
8.00 43.645 -96.560 -0.057 0.036 -0.090 -13.514

62
PANEL DEFLECTION


-8.00 -1.233 1.421 0.053 0.000 0.000 0.000

-4.00 -0.604 0.721 0.110 0.000 0.000 0.000
0.00 0.000 0.000 0.132 0.000 0.000 0.000
4.00 0.604 -0.721 0.110 0.000 0.000 0.000
8.00 1.233 -1.421 0.053 0.000 0.000 0.000
-8.00 -1.214 0.224 -5.416 -1.152

-4.00 -0.595 0.152 -3.922 -1.192
0.00 0.000 0.132 0.000 -1.192
4.00 0.595 0.152 3.922 -1.192
8.00 1.214 0.224 5.416 -1.152
CENTER

63
PANEL DEFLECTION


-8.00 9.1791 -9.8874 -9.5764 12.0985 0.2753
-4.00 8.8313 -10.1771 -8.9663 11.0908 -0.0019
0.00 8.6575 -10.3220 -8.4680 9.9592 0.0000
4.00 8.8313 -10.1771 -8.9663 11.0908 0.0019
8.00 9.1791 -9.8874 -9.5764 12.0986 -0.2753

1 5.00 0.00 0.00 -5.00
1 0.00 0.00 0.00 0.00

64
PANEL DEFLECTION


-8.00 43.540 -102.509 3.557 26.878 -12.015
-4.00 41.891 -98.416 0.865 26.878 -12.015
0.00 43.305 -101.938 -2.236 26.878 -12.015
4.00 45.350 -107.020 -5.121 26.878 -12.015
8.00 45.141 -106.492 -7.429 26.878 -12.015

65
PANEL DEFLECTION


-8.00 44.153 -104.500 0.007 -0.032 0.078 -13.994
-4.00 43.433 -102.718 0.020 -0.003 0.008 -13.173
0.00 43.117 -101.938 0.000 0.000 0.000 -12.190
4.00 43.433 -102.718 -0.020 0.003 -0.008 -13.173
8.00 44.153 -104.501 -0.007 0.032 -0.078 -13.994


66
PANEL DEFLECTION


-8.00 -1.108 1.049 0.771 0.000 0.000 0.000

-4.00 -0.533 0.569 0.782 0.000 0.000 0.000
0.00 0.000 0.000 0.786 0.000 0.000 0.000
4.00 0.533 -0.569 0.782 0.000 0.000 0.000
8.00 1.108 -1.049 0.771 0.000 0.000 0.000
-8.00 -0.990 0.918 -1.079 -0.946

-4.00 -0.478 0.817 -0.584 -1.067
0.00 0.000 0.786 0.000 -1.067
4.00 0.478 0.817 0.584 -1.067
8.00 0.990 0.918 1.079 -0.946
CENTER

67
PANEL DEFLECTION


-8.00 8.5313 -6.2311 -8.3955 8.8365 0.2574
-4.00 7.9368 -7.5101 -7.8241 8.6319 -0.0007
0.00 7.6400 -8.1515 -7.4963 8.0310 0.0000
4.00 7.9368 -7.5101 -7.8242 8.6319 0.0007
8.00 8.5313 -6.2311 -8.3955 8.8365 -0.2574

1 5.00 0.00 0.00 -5.00
1 0.00 0.00 0.00 0.00
BODY ALONE LINEAR DATA GENERATED FROM SECOND ORDER SHOCK EXPANSION
METHOD

68
PANEL DEFLECTION


-8.00 39.342 -108.127 0.000 28.285 -9.526
-4.00 39.022 -107.260 0.000 28.285 -9.526
0.00 40.288 -110.734 0.000 28.285 -9.526
4.00 40.755 -112.006 0.000 28.285 -9.526
8.00 39.578 -108.773 0.000 28.285 -9.526

69
PANEL DEFLECTION


-8.00 39.051 -107.399 0.017 -0.003 0.008 -9.839
-4.00 39.480 -108.582 0.003 -0.002 0.004 -9.678
0.00 39.880 -109.682 0.000 0.000 0.000 -9.191
4.00 39.480 -108.582 -0.003 0.002 -0.004 -9.678
8.00 39.051 -107.399 -0.017 0.003 -0.008 -9.839

*** END OF JOB ***

70
VARIABLES=ALPHA,CN,CM,CA,CY,CLN,CLL,DELTA,CL,CD
ZONE T="NO TRIM MACH= 0.40"
-8.0000 -1.1995 1.3602 0.0325 0.0000 0.0000 0.0000 0.4000 -1.1833 0.1991
-4.0000 -0.5855 0.6819 0.0907 0.0000 0.0000 0.0000 0.4000 -0.5777 0.1313
0.0000 0.0000 0.0000 0.1127 0.0000 0.0000 0.0000 0.4000 0.0000 0.1127
4.0000 0.5855 -0.6819 0.0907 0.0000 0.0000 0.0000 0.4000 0.5777 0.1313
8.0000 1.1995 -1.3602 0.0325 0.0000 0.0000 0.0000 0.4000 1.1833 0.1991
-8.0000 -1.2331 1.4210 0.0530 0.0000 0.0000 0.0000 0.8000 -1.2137 0.2241
-4.0000 -0.6044 0.7206 0.1099 0.0000 0.0000 0.0000 0.8000 -0.5953 0.1518
0.0000 0.0000 0.0000 0.1317 0.0000 0.0000 0.0000 0.8000 0.0000 0.1317
4.0000 0.6044 -0.7206 0.1099 0.0000 0.0000 0.0000 0.8000 0.5953 0.1518
8.0000 1.2331 -1.4210 0.0530 0.0000 0.0000 0.0000 0.8000 1.2137 0.2241
-8.0000 -1.1082 1.0487 0.7708 0.0000 0.0000 0.0000 2.0000 -0.9902 0.9175
-4.0000 -0.5334 0.5691 0.7819 0.0000 0.0000 0.0000 2.0000 -0.4775 0.8172
0.0000 0.0000 0.0000 0.7856 0.0000 0.0000 0.0000 2.0000 0.0000 0.7856
4.0000 0.5334 -0.5691 0.7819 0.0000 0.0000 0.0000 2.0000 0.4775 0.8172
8.0000 1.1082 -1.0487 0.7708 0.0000 0.0000 0.0000 2.0000 0.9902 0.9175
-8.0000 -1.1995 1.3602 0.0325 0.0000 0.0000 0.0000 0.4000 -1.1833 0.1991
-4.0000 -0.5855 0.6819 0.0907 0.0000 0.0000 0.0000 0.4000 -0.5777 0.1313
0.0000 0.0000 0.0000 0.1127 0.0000 0.0000 0.0000 0.4000 0.0000 0.1127
4.0000 0.5855 -0.6819 0.0907 0.0000 0.0000 0.0000 0.4000 0.5777 0.1313
8.0000 1.1995 -1.3602 0.0325 0.0000 0.0000 0.0000 0.4000 1.1833 0.1991
-8.0000 -1.2331 1.4210 0.0530 0.0000 0.0000 0.0000 0.8000 -1.2137 0.2241
-4.0000 -0.6044 0.7206 0.1099 0.0000 0.0000 0.0000 0.8000 -0.5953 0.1518
0.0000 0.0000 0.0000 0.1317 0.0000 0.0000 0.0000 0.8000 0.0000 0.1317
4.0000 0.6044 -0.7206 0.1099 0.0000 0.0000 0.0000 0.8000 0.5953 0.1518
8.0000 1.2331 -1.4210 0.0530 0.0000 0.0000 0.0000 0.8000 1.2137 0.2241
-8.0000 -1.1082 1.0487 0.7708 0.0000 0.0000 0.0000 2.0000 -0.9902 0.9175
-4.0000 -0.5334 0.5691 0.7819 0.0000 0.0000 0.0000 2.0000 -0.4775 0.8172
0.0000 0.0000 0.0000 0.7856 0.0000 0.0000 0.0000 2.0000 0.0000 0.7856
4.0000 0.5334 -0.5691 0.7819 0.0000 0.0000 0.0000 2.0000 0.4775 0.8172
8.0000 1.1082 -1.0487 0.7708 0.0000 0.0000 0.0000 2.0000 0.9902 0.9175

71
VARIABLES: MACH,ALTITUDE,SIDESLIP,DEL1,DEL2,DEL3,DEL4
ROWS, TOTAL COLUMNS, COLUMNS OF DERIVATIVES
DATA: ALPHA,CN,CM,CA,CY,CLN,CLL,CNQ,CMQ,CAQ,CYR,CLNR,CLLR,CYP,CLNP,CLLP
0.40 0.0 0.00 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0
5.0 16.0 9.0
-0.800E+01 -0.1200E+01 0.1360E+01 0.3248E-01 0.2529E-07 -0.6334E-07 0.1074E-07 0.4265E+02 -0.9363E+02 0.3424E+01
0.4364E+02 -0.9656E+02 0.5687E-01 -0.3588E-01 0.8987E-01 -0.1351E+02
-0.400E+01 -0.5855E+00 0.6819E+00 0.9071E-01 -0.2940E-08 0.7365E-08 0.1541E-07 0.4073E+02 -0.8883E+02 0.8202E+00
0.4254E+02 -0.9380E+02 0.2176E-01 -0.3388E-02 0.8487E-02 -0.1256E+02
0.000E+00 0.0000E+00 -0.2934E-07 0.1127E+00 0.0000E+00 0.0000E+00 0.0000E+00 0.4226E+02 -0.9266E+02 -0.2175E+01
0.4208E+02 -0.9266E+02 0.1212E-05 -0.9743E-06 0.2441E-05 -0.1150E+02
0.400E+01 0.5855E+00 -0.6819E+00 0.9071E-01 -0.1879E-07 0.4707E-07 0.1620E-07 0.4470E+02 -0.9878E+02 -0.4956E+01
0.4254E+02 -0.9380E+02 -0.2176E-01 0.3388E-02 -0.8487E-02 -0.1256E+02
0.800E+01 0.1200E+01 -0.1360E+01 0.3248E-01 -0.5080E-07 0.1273E-06 0.2556E-07 0.4499E+02 -0.9950E+02 -0.7183E+01
0.4364E+02 -0.9656E+02 -0.5687E-01 0.3588E-01 -0.8987E-01 -0.1351E+02
0.80 0.0 0.00 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0
5.0 16.0 9.0
-0.800E+01 -0.1233E+01 0.1421E+01 0.5301E-01 0.2503E-07 -0.6227E-07 0.1141E-07 0.4354E+02 -0.1025E+03 0.3557E+01
0.4415E+02 -0.1045E+03 0.7166E-02 -0.3155E-01 0.7849E-01 -0.1399E+02
-0.400E+01 -0.6044E+00 0.7206E+00 0.1099E+00 0.1385E-07 -0.3445E-07 0.2393E-07 0.4189E+02 -0.9842E+02 0.8646E+00
0.4343E+02 -0.1027E+03 0.2009E-01 -0.3073E-02 0.7646E-02 -0.1317E+02
0.000E+00 0.0000E+00 0.9313E-09 0.1317E+00 0.0000E+00 0.0000E+00 0.0000E+00 0.4330E+02 -0.1019E+03 -0.2236E+01
0.4312E+02 -0.1019E+03 0.1178E-05 -0.9279E-06 0.2309E-05 -0.1219E+02
0.400E+01 0.6044E+00 -0.7206E+00 0.1099E+00 -0.5782E-08 0.1438E-07 0.2264E-08 0.4535E+02 -0.1070E+03 -0.5121E+01
0.4343E+02 -0.1027E+03 -0.2009E-01 0.3070E-02 -0.7639E-02 -0.1317E+02
0.800E+01 0.1233E+01 -0.1421E+01 0.5301E-01 -0.4800E-07 0.1194E-06 0.2343E-07 0.4514E+02 -0.1065E+03 -0.7429E+01
0.4415E+02 -0.1045E+03 -0.7165E-02 0.3155E-01 -0.7849E-01 -0.1399E+02
2.00 0.0 0.00 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0
5.0 16.0 9.0
-0.800E+01 -0.1108E+01 0.1049E+01 0.7708E+00 0.9829E-08 -0.2690E-07 -0.1791E-07 0.3934E+02 -0.1081E+03 0.0000E+00
0.3905E+02 -0.1074E+03 0.1684E-01 -0.3002E-02 0.8216E-02 -0.9839E+01
-0.400E+01 -0.5334E+00 0.5691E+00 0.7819E+00 0.7282E-10 -0.1993E-09 -0.8745E-08 0.3902E+02 -0.1073E+03 0.0000E+00
0.3948E+02 -0.1086E+03 0.2910E-02 -0.1501E-02 0.4109E-02 -0.9678E+01
0.000E+00 0.0000E+00 0.5588E-08 0.7856E+00 0.0000E+00 0.0000E+00 0.0000E+00 0.4029E+02 -0.1107E+03 0.0000E+00
0.3988E+02 -0.1097E+03 0.2254E-05 -0.7973E-06 0.2183E-05 -0.9191E+01
0.400E+01 0.5334E+00 -0.5691E+00 0.7819E+00 -0.3837E-08 0.1050E-07 0.7883E-08 0.4076E+02 -0.1120E+03 0.0000E+00
0.3948E+02 -0.1086E+03 -0.2907E-02 0.1501E-02 -0.4108E-02 -0.9678E+01
0.800E+01 0.1108E+01 -0.1049E+01 0.7708E+00 -0.4747E-07 0.1299E-06 0.2443E-07 0.3958E+02 -0.1088E+03 0.0000E+00
0.3905E+02 -0.1074E+03 -0.1684E-01 0.3004E-02 -0.8223E-02 -0.9839E+01
0.40 0.0 0.00 5.0 0.0 0.0 -5.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0
5.0 7.0 0.0
-0.800E+01 -0.1200E+01 0.1360E+01 0.3248E-01 0.2529E-07 -0.6334E-07 0.1074E-07
-0.400E+01 -0.5855E+00 0.6819E+00 0.9071E-01 -0.2940E-08 0.7365E-08 0.1541E-07
0.000E+00 0.0000E+00 -0.2934E-07 0.1127E+00 0.0000E+00 0.0000E+00 0.0000E+00
0.400E+01 0.5855E+00 -0.6819E+00 0.9071E-01 -0.1879E-07 0.4707E-07 0.1620E-07
0.800E+01 0.1200E+01 -0.1360E+01 0.3248E-01 -0.5080E-07 0.1273E-06 0.2556E-07
0.80 0.0 0.00 5.0 0.0 0.0 -5.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0
5.0 7.0 0.0
-0.800E+01 -0.1233E+01 0.1421E+01 0.5301E-01 0.2503E-07 -0.6227E-07 0.1141E-07
-0.400E+01 -0.6044E+00 0.7206E+00 0.1099E+00 0.1385E-07 -0.3445E-07 0.2393E-07
0.000E+00 0.0000E+00 0.9313E-09 0.1317E+00 0.0000E+00 0.0000E+00 0.0000E+00
0.400E+01 0.6044E+00 -0.7206E+00 0.1099E+00 -0.5782E-08 0.1438E-07 0.2264E-08
0.800E+01 0.1233E+01 -0.1421E+01 0.5301E-01 -0.4800E-07 0.1194E-06 0.2343E-07
2.00 0.0 0.00 5.0 0.0 0.0 -5.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0 0.0
5.0 7.0 0.0
-0.800E+01 -0.1108E+01 0.1049E+01 0.7708E+00 0.9829E-08 -0.2690E-07 -0.1791E-07
-0.400E+01 -0.5334E+00 0.5691E+00 0.7819E+00 0.7282E-10 -0.1993E-09 -0.8745E-08
0.000E+00 0.0000E+00 0.5588E-08 0.7856E+00 0.0000E+00 0.0000E+00 0.0000E+00
0.400E+01 0.5334E+00 -0.5691E+00 0.7819E+00 -0.3837E-08 0.1050E-07 0.7883E-08
0.800E+01 0.1108E+01 -0.1049E+01 0.7708E+00 -0.4747E-07 0.1299E-06 0.2443E-07

72
Chapter 3: Missile DATCOM Model of the Brumby
Unmanned Aerial Vehicle
The Brumby UAV is an ideal aerospace vehicle for using Missile DATCOM to
create an aerodynamic model. The Brumby UAV has many characteristics similar to a
missile such as its geometry and having a constant diameter body cross-section. The
Brumby UAV model will benefit from the very broad flight envelope allowed by Missile
DATCOM. A broad flight envelope makes the model useful for studying many different
actual flight maneuvers.
3.1 Flight Conditions
The Brumby UAV was to be modeled under expected flight conditions. Data was
generated for the Brumby UAV over a range of -5.0 to 35.0 degrees of angle-of-attack(
). The values vary from -5.0 to 0.0 in 5.0 degree increments and from 0.0 to
20.0 degrees in 2.0 degree increments, to allow for nonlinearities in the aerodynamic
coefficients. The values from 20.0 to 35.0 degrees were taken in 5.0 degree
increments. The maximum velocity for the Brumby UAV is approximately 100 miles per
hour. The sea level speed of sound is approximately 1117 feet per second. The maximum
Brumby UAV velocity would be approximately 146.67 feet per second. This would
correspond to a Mach value of approximately 0.13. The smallest Mach value that
Missile DATCOM will calculate is 0.01. This creates a lower velocity boundary of
approximately 7.6 miles per hour, assuming sea level speed of sound. Table 3.1 includes
the values input for each variable in namelist FLTCON.

73
Table 3.1: Brumby UAV Flight Conditions (FLTCON)
Variable Brumby Values Units

Name
NALPHA 15.0 N/A
ALPHA -5.00,0.00,2.00,4.00,6.00,8.00,10.00,12.00,14.00,16.00,18.00,20.00, Degrees
25.00,30.00,35.00
BETA 0.0 Degrees
PHI 0.0 Degrees
NMACH 4.0 N/A
MACH 0.05,0.08,0.10,0.15 N/A
ALT 0.0,0.0 Meters
Missile DATCOM uses reference values in order to scale the aerodynamic
coefficients. The reference values for longitudinal length, lateral length, and area are
LREF, LATREF, SREF. The reference values used for the Brumby UAV are the surface
area of the wing planform area, the mean aerodynamic chord length, and the wing span
length and are stored in SREF, LREF, LATREF. Missile DATCOM calculates the
position of the aerodynamic center of pressure with respect to the center of gravity along
the x-axis and is represented as the variable Xcp value. The aerodynamic center of
pressure is defined as the point on the infinitely thin airfoil section where the
aerodynamic moment is zero.[6] The aerodynamic center of pressure tends to be at
approximately 0.25 c aft from the leading edge of the airfoil section for commonly used
airfoil sections at subsonic speeds.[5] The actual aerodynamic center of pressure changes
as a function of the angle-of-attack[6], however the 0.25 c value of the aerodynamic
center of pressure is a commonly used approximation at subsonic speeds. Missile

74
DATCOM calculates the center of pressure for the Brumby UAV to be 0.90 meters aft
from the tip of the nose. Therefore, the center of gravity must be approximately 0.90
meters or less aft from X0, where X0 is at the tip of the nose cone, in order for the
Brumby UAV to be longitudinally statically stable. For longitudinal static stability the
center of pressure resides slightly aft of the center of gravity, such that the vehicle can be
trimmed to be statically stable by use of the horizontal control surface or elevator. This
also causes the vehicle to pitch nose over in the event that the free stream velocity is zero
during flight. Typically, this is considered during the design of the airframe and includes
the placement of equipment about the airframe in order to maintain the desired center of
gravity location. The values used in the REFQ namelist variables are presented in Table
3.2. The center-of-gravity was chosen to be at 0.85 meters from the tip of the nose.
Missile DATCOM shows the center-of-pressure to be located at 0.90 meters from the tip
of the nose. A center of gravity location of 0.85 meters from the tip of the nose will create
static stability in the dynamics of the aircraft. Aircraft designers consider the location of
the center of gravity during the design of the airframe. The aircraft designer locates the
components of the aircraft, such as the airframe, power plant, and instrumentation, such
that the location of the center of gravity forward of the center-of-pressure.

75
Table 3.2: Brumby UAV Reference Values (REFQ)
Variable Name Brumby Values Units

SREF 1.251700 Meters^2
LREF 0.634700 Meters
LATREF 2.324000 Meters
XCG 0.85 Meters
ZCG -0.04 Meters
3.2 Fuselage
The fuselage of the Brumby UAV is a cylinder with a blunted ogive nose cone.
The body of the Brumby UAV will be modeled in Missile DATCOM using the Axially
Symmetric namelist (ASYM). This will allow the body geometry to be defined using the
least number of variables. The body could have been defined at longitudinal station
points, which would have required additional measurements and should yield similar
results.
Figure 3.1: Brumby UAV Fuselage

76
Table 3.3: Brumby UAV Body Definition (ASYM)
Variable Name Brumby UAV Value Units

XO 0.0 Meters
TNOSE OGIVE N/A
LNOSE 0.1970 Meters
DNOSE 0.1524 Meters
BNOSE 0.0 Meters
LCENTR 1.7730 Meters
DCENTR 0.1524 Meters
The longitudinal point of reference, X0, was set to zero. This sets the origin of the
Missile DATCOM coordinate system at the tip of the nose on the Brumby UAV.[1]
Setting the origin of the coordinate system at the tip of the nose simplifies the
measurements along the longitudinal axis.
3.3 Wing Planform
The main lifting surface planform of the Brumby UAV is a delta wing that is
located on the xy-plane. This planform is the foremost finset and is therefore labeled
FINSET1. The leading edge is located aft from the nose at a length of 0.97 meters. The
wing is composed of two panels located at 90.0 degrees and -90.0 degrees from the
positive z-axis. The wing had no measurable dihedral and therefore the GAM values are
0.0. The airfoil section was determined to be symmetric with an approximate chord
thickness of 10% located 30% aft from the leading edge, which is an airfoil section of
NACA 0310. The Brumby UAV wing planform airfoil section is modeled in Missile
DATCOM as NACA-1-4-0310. A detailed explanation of how to implement the control

77
surfaces for this planform will be discussed in Section 3.5.
Figure 3.2: Brumby UAV Wing Planform
3.4 Vertical Stabilizer
The Brumby UAV has twin vertical stabilizers located on the wing planform
approximately 0.2660 meters from the body mold line. The twin vertical stabilizers are
aft of the wing planform and are defined as FINSET2 in Missile DATCOM. In order to
place the panels perpendicular to the wing panel the vertical stabilizers are located at a
PHIF angle of 90.0 and -90.0. Then the vertical stabilizers will be given dihedral angles
GAM of -90.0 and 90.0, which will roll the panels into a vertical orientation. In order to
78
place the panels away from the body and onto the wing the first SSPAN value will be
half the body diameter plus the distance of the panel from the body mold line. The second
value for SSPAN is the distance from the first SSPAN length to the end of the panel. The
values used for SSPAN are 0.2660 and 0.6790 for the starboard and port panels. The
panels are 1.57 meters from X0 along the body x-axis. The twin vertical tails are swept
from the root chord aft of the aircraft toward the tip chord. Missile DATCOM allows the
user to define the sweep angle with reference to either the leading edge or the trailing
edge. For the twin vertical stabilizers on the Brumby UAV the sweep angle is 13.99
degrees and is assigned to the variable SWEEP. To assign the reference edge to be the
trailing edge, assign STA the value of 1.0. The Brumby UAV vertical stabilizers use a
symmetric airfoil section with an airfoil thickness of 20% , located 30% aft from the
leading edge. This is represented using a NACA 4 series airfoil as NACA 0320. To
assign FINSET2, the user inputs the following control card NACA 2-4-0320.
79
Table 3.4: Brumby UAV Twin Vertical Tail Planform Definition (FINSET2)
Variable Name Default Value Units

XLE 1.57 Meters
CHORD 0.4000,0.1952 Meters
SSPAN 0.2660,0.6790 Meters
CFOC 0.2600,0.5328 N/A
NPANEL 2.0 N/A
PHIF 90.00,270.00 Degrees
GAM -90.00,90.00 Degrees
SECTYPE NACA N/A
STA 1.0 N/A
SWEEP 13.99 Degrees
Figure 3.3: Brumby UAV Vertical Planform

80
3.5 Control Surfaces
Traditional aircraft have control surfaces located on the planforms. The wing
planform typically contains ailerons that create rolling moments about the x-axis. The
Horizontal stabilizer either has a movable section or is completely movable where the
control surface is defined as the elevator. The elevator is used to create pitching
moments about the y-axis, as well as to trim the vehicle longitudinally. The vertical
stabilizer has a control surface defined as the rudder, which creates yawing moments
about the aircraft z-axis.
The Brumby UAV has a delta wing planform with two control surfaces on each
panel, as well as a control surface on each of the twin vertical tails. The delta wing has
ailerons that create rolling moments as well as elevators that create pitching moments.
Missile DATCOM does not allow for multiple control surfaces on a fin. In order to
accomplish a similar control scheme using a single control surface, the elevator and
aileron displacement inputs must be geometrically summed together. This configuration
of control surfaces that can create both rolling and pitching moments are defined as
Elevons. When the wing planform control surfaces are deflected equally up or down,
then the control surfaces contribute to the pitching moment, similar to elevators. When
the control surfaces on the wing panels are deflected an equal distance in opposite
directions, the control surfaces contribute to the rolling moment, similar to ailerons. By
combining the elevator and aileron deflection angles for each wing panel control surface
we can accomplish simultaneous aileron and elevator control.
The size of the control surfaces are defined in Missile DATCOM using the flap
81
chord length to chord length ratio CFOC.
Flap Chord Length

CFOC =
CHORD (3.1)
The wing planform is defined as FINSET1, and the the twin vertical stabilizers will be
defined as FINSET2. Notice that the control surface of the twin vertical stabilizers
extends over the length of the panel span, while the control surface on the wing planform
extends only over a portion of the span length.
In order to create aerodynamic data over the range of control surface deflection
values, the model must be run for each deflection angle of each control surface. This is
accomplished by saving the geometric model definition from previous cases and only
changing the deflection values for the control surface under consideration, and by setting
the control surface deflection angles to 0.0 for the base case. Invoking the SAVE control
card retains the previous variable definitions so the values can be used during the
execution of the next case. As an example, consider a base case where the SAVE control
card is included before the NEXT CASE control card. The namelist DEFLCT contains a
variable for each finset. Since the wing has been defined as FINSET1, the deflection
angle for the starboard panel is contained in the first element of the array DELTA1. The
Second element is the port panel deflection angle, which will be set to zero for this case,
because the base model values will be used in the preceding case, the SAVE control card
must be used before the NEXT CASE control card. In subsequent cases the aerodynamic
data will be computed for the same model with different values of side-slip angle,
altitude, and control surface deflection angles.

82
CASEID Brumby
DAMP
PLOT
DIM M
DERIV RAD
MACH = 0.05,0.08,0.10,0.15,
ALT = 0.00,0.00,0.00,0.00,
ALPHA = -5.00,0.00,2.00,4.00,6.00,
ALPHA(6)=8.00,10.00,12.00,14.00,16.00,
ALPHA(11)=18.00,20.00,25.00,30.00,35.00,
BETA=0.,$
$REFQ SREF=1.251700,LREF=0.634700,LATREF=2.324000,XCG=0.85,ZCG=-0.04,$
$AXIBOD TNOSE=OGIVE,LNOSE=0.1970,DNOSE=0.1524,LCENTR=1.7730,DCENTR=0.1524,$
SSPAN=0.0000,0.2660,1.0096,
CHORD=1.0033,0.8048,0.2500,
XLE=0.97,
NPANEL=2.,
PHIF=90.00,270.00,
GAM=0.00,0.00,
CFOC=0.0000,0.1553,0.5000,$
NACA-1-4-1310
SSPAN=0.2660,0.6790,
CHORD=0.1040,0.1040,
XLE=1.57,
CFOC=1.0000,1.0000,
STA=1.,
SWEEP=13.99,
NPANEL=2.,
PHIF=90.00,-90.00,
GAM=-90.00,90.00,$
NACA-2-4-0020
SAVE
NEXT CASE
Figure 3.4: Brumby UAV Vehicle Description Case for005.dat File

83
CASEID WING FLAPS

$DEFLCT DELTA1=-45.00,0.,$
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
$DEFLCT DELTA1=5.00,0.,$
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
$DEFLCT DELTA1=0.0,45.00,$
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
$DEFLCT DELTA1=0.0,-5.00,$
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
Figure 3.5: Brumby UAV Wing Control Deflection Cases for005.dat File
84
CASEID RIGHT RUDDER

$DEFLCT DELTA1=0.,0.,$
$DEFLCT DELTA2=-25.00,0.0,$
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
Figure 3.6: Brumby UAV Twin Vertical Tail Control Deflection Cases for005.dat
File
85
$FLTCON BETA=-20.,$
SAVE
NEXT CASE
$FLTCON BETA=-10.,$
SAVE
NEXT CASE
$FLTCON BETA=10.,$
SAVE
NEXT CASE
$FLTCON BETA=20.,$
SAVE
NEXT CASE
$FLTCON BETA=0.,ALT=5*100.,$
SAVE
NEXT CASE
$FLTCON ALT=10*100.,$
SAVE
NEXT CASE
Figure 3.7: Brumby UAV Side-Slip Angle and Altitude Cases for005.dat File
86
Chapter 4: Equations of Motion and Rigid Body Modeling
This chapter will discuss the mathematical model of a rigid body. The nonlinear
equations of motion for a non-rotating flat earth reference frame will be presented. The
equations will be presented in a manner that they can be integrated into a simulation
environment. For a derivation of the equations presented here the reader is directed to
Reference [7].
4.1 Equations of Motion for A Rigid Body
The movement of an object can be described with respect to an inertial reference
frame. For three-dimensional motion this is done by defining a coordinate system in a
reference frame. Multiple coordinate frames exist, however, only coordinate systems that
obey the right hand rule for vector orientation will be considered.
The first coordinate system of interest is one that is defined on an Earth Fixed
Inertial Frame located on the earth's surface.[7] This coordinate system aligns the
positive x-axis increasing in the East direction and the positive y-axis increasing in the
North direction. The positive z-axis increasing along the equatorial plane and is often
abbreviated using: East, North, Up or ENU.[7]
The next coordinate system of interest is the frame with respect to the vehicle
navigation. The coordinate system is defined as having the origin located on the surface
of the earth. The x-axis is positive increasing toward the North direction. The y-axis is
positive increasing toward the East direction. The z-axis is positive increasing Down
toward the center of the Earth, in accordance with the right hand rule. This coordinate
system is known as the vehicle navigation frame and is abbreviated as: North, East,
87
Down, or NED.[7]
The next coordinate system of interest is the coordinate frame with respect to
which the vehicle's stability is defined. The coordinate system is defined as having the
origin located at the center of mass of the vehicle. The positive x-axis is increasing
toward the nose of the aircraft. The positive y-axis is increasing toward the starboard
wing tip. The positive z-axis is increasing in accordance with the right hand rule. This is
known as the body fixed coordinate system and is defined as the body axes.[7]
The final coordinate systems of interest are the stability axes coordinate system
and the wind axes coordinate system. These coordinate systems relate the aerodynamic
forces acting on the vehicle and each has its origin at the center of mass of the vehicle.
The angular difference between the body x-axis and the stability x-axis along the x-z
plane, is known as the angle-of-attack ( ). The angular difference between the body
x-axis and the wind x-axis along the x-y plane, is known as the side-slip angle ( ).
The z-axis always obeys the right hand rule. Figure 4.1 illustrates the stability and wind
frames.
88
Figure 4.1: Aerodynamic Angles
Table 4.5: Brumby UAV Wing Planform Definition (FINSET1)
Variable Name Default Value Units

XLE 0.97 Meters
CHORD 1.0033,0.8048,0.2500 Meters
SSPAN 0.0000,0.2660,1.0096 Meters
CFOC 0.0000,0.1553,0.5000 N/A
NPANEL 2.0 N/A
PHIF 90.00,270.00 Degrees
GAM 0.0,0.0 Degrees
SECTYPE NACA N/A
Assume that there are two coordinate systems that are related by one coordinate
system being rotated with respect to the other one about a parallel axis. Then let one of
89
the coordinate systems be rotated about one of the axes with respect to the other axis. Let
us denote the angular difference between the two y-axes in the y-z plane as phi ( ),
the angular difference between the two x-axes in the x-z plane as theta ( ), and finally
the angle between the two x-axes in the x-z plane as psi ( ). These angles are the
Euler Angles.
A vector in one coordinate system (a) can be converted to another coordinate
system (b) by multiplying the vector by a Direction Cosine Matrix ( C a / b ).
Equation 4.1 is a Direction Cosine Matrix that converts a vector from the navigation
frame to the body frame.
[ ]
cos cos cossin sin
C b /n = cossin sin sin cos coscos sin sin sin sin cos (4.2)
sin sin cos sin cos sin coscossin sin cos cos
The fundamental equations of motion for the initial simulation of a vehicle can be
as simple as the flat earth equations of motion such as Equations 4.3-7. Equation 4.3
shows that the Direction Cosine Matrix is a function of the Euler Angles. The derivative
of position in the navigation frame is the velocity vector in the body frame converted into
the position frame, Equation 4.4. The differential equation of the Euler angles is shown in
Equation 4.5. The translational accelerations are given by Equation 4.6. The rotational
accelerations are given in Equation 4.7.
C b /n = fn (4.3)
Poisson's Kinematic Equation
e n b (4.4)
p = C b / n v CM / e
90
Euler Kinematic Equation
= H bb / e (4.5)

Translational Acceleration
b b b n b b (4.6)
v
CM / e = 1/m F A ,T C b /n g b/ e vCM / e
Rotational Acceleration
b b b 1 b b b b (4.7)
b/e = J
[M A ,T b/ e J b /e ]
Where:
[ ]
1 tansin tancos
H = 0 cos sin (4.8)
0 sin /cos cos /cos
b b b b
b/ e v CM / e = b / e v CM / e (4.9)
[ ]
Jx 0 J x z
J b= 0 Jy 0 (4.10)
J xz 0 Jz
F bA ,T =[ F A F A F A ][ F T F T F T ]
x y z x y z
(4.11)
b
M A ,T =[M A M A M A ][M T M T M T ]
x y z x y z
(4.12)
g n =[0 0 g ] (4.13)
The vectors of interest for control and navigation purposes are the Navigation
Position Vector (Equation 4.11), the Euler Angles Vector (Equation 4.12), the
Translational Velocity Vector(Equation 4.13), and the Angular Velocity Vector
(Equation 4.14).
91
T
e
pn = [ p N pe pD ] (4.14)
T (4.15)
= [ ]
T (4.16)
v bCM / e = [ U V W]
T (4.17)
bb /e = [ P Q R]
The matrix given in Equation 4.9 contains the moments of inertia for the vehicle
in question. Due to symmetry in the xz-plane J XY = J YX = 0 , moments of inertia
about J XX , J YY , J ZZ , and J XZ are non-zero. In situations where the inertia
tensor is difficult to obtain analytically, there exist experimental methods such as the
pendulum method outlined by M. P. Miller .[8]
4.2 Aerodynamic Coefficients
The forces and moments of interest are taken about the aircraft's center of mass.
Drag is friction caused by the aircraft moving through the air. The air molecules move
around the aircraft as it moves through the atmosphere. The molecules that cling to the
surface of the aircraft create skin friction.[6] The natural texture of the surface of the
aircraft is aerodynamically rough and is specified using the Roughness Height Rating
(RHR). The RHR is the arithmetic mean of the surface variation in millionths of an inch.
[4] Missile DATCOM allows the user to input the roughness factor of the vehicle surface.
The Lift force is created by both Bernoulli Lift and Vortex Lift.[6] Typically, the side
force is very small in an aircraft flying in wings level steady flight with side-slip angle at
or near zero. The aerodynamic forces of Lift and Drag are defined in the Stability frame.
92
The total moment acting on the aircraft is considered about the principle axes of the
coordinate system. The moment about the body x-axis is known as the Rolling Moment,
the moment about the body y-axis is known as the Pitching Moment, and the moment
about the body z-axis is known as the Yawing Moment. The sense of the moments are
defined using the right hand rule and are defined as follows. A positive Rolling Moment
is one in which the pilot experiences a clockwise rotation about the x-axis. The starboard
wing would be moving toward the positive z-axis and the port wing would be moving
toward the negative z-axis. A positive Pitching Moment is one in which the pilot
experiences the nose of the aircraft moving toward the positive z-axis and the tail of the
aircraft moving toward the negative z-axis. The positive Yawing Moment is one in which
the pilot experiences a clockwise rotation about the z-axis. The sense of the moments is
illustrated in Figure 4.4. Aircraft moving through fluid will experience certain restoring
forces, such as the vehicle to returning to a straight flight after experiencing a side-slip
perturbation. This is caused by the vertical stabilizer and is known as weather veining.
These restoring forces are represented as damping derivatives. Equation 4.20 shows how
to dimmensionalize the non-dimmensionalized aerodynamic coefficients and derivatives.
The rate value is the rotational rate with respect to the derivative, this is either Rolling
Rate p, the Pitching Rate q, or the Yawing Rate r. The constant k is either the wing span
length b in the case of roll and yaw rates or the mean aerodynamic chord c with
respect to the pitch rate. The damping derivative coefficients of interest are typically:
Rolling Moment with respect to Roll Rate C l p

,
Pitching Moment with respect to Pitch Rate C m , q

93
Yawing Moment with respect to Yaw Rate C n , r
Rolling Moment with respect to Yaw Rate C l , r
Yawing Moment with respect to Roll Rate C n , p
Lift Force with respect to Pitch Rate C L ,r
Side Force with respect to Roll Rate C Y P

,
Side Force with respect to Yaw Rate C Y . r
There are also derivatives of the force and moment coefficients with respect to the
various control surfaces. These are typically:
Pitching Moment with respect to Elevator Deflection Angle C q ele

,
Lift Force with respect to Elevator Deflection Angle C L ele

,
Rolling Moment with respect to Aileron Deflection Angle C l ail

,
Cn
Yawing Moment with respect to Aileron Deflection Angle ail ,
Rolling Moment with respect to Rudder Deflection Angle C l ,

rud
Yawing Moment with respect to Rudder Deflection Angle C n rud

.
There also are derivatives for force and moment coefficients with respect to changes in
Mach, altitude, and thrust.
The aerodynamic forces, moments, and derivative coefficients are non-
dimensionalized so that aerodynamic data for an aircraft is scaled from the coefficients.
This allows data taken from models in wind tunnels to be used on full scale aircraft. The
equations used to create dimensionalized forces, moments, and derivatives are given in
94
Equations 4.17 23. Missile DATCOM provides force and moment coefficients for each
Mach and Alpha pair specified in the FLTCON namelist. Missile DATCOM only
provides coefficients for the dynamic derivatives over the Alpha range specified. The
Drag, Lift, and Cross-Wind Forces are projected onto the body frame of the vehicle using
the Direction Cosine Matrix given in Equation 4.36.
(a) (b)
Figure 4.2: Lift Coefficient (a) and Drag Coefficient (b)
The lift and drag force coefficients are plotted in Figure 4.2 and the force and moment
coefficients in the body frame are plotted in Figure 4.3 for the Brumby UAV with zero
control surface deflection angles. If there aircraft is in straight and level flight equilibrium
then the longitudinal and lateral coefficients are be decoupled. For straight level flight the
lateral force coefficients of Side-force coefficients, Rolling and Pitching moment
coefficients will be of lower magnitude than the longitudinal force coefficients of Axial
and Normal force coefficients, and pitching moment coefficient.

95
(a) (d)
(b) (e)
( c) (f)
Figure 4.3: Force(a, b, c) and Moment Coefficients(d, e, f)

96
Aerodynamic Forces
Drag Force
D = q S C D (4.18)
Lift Force
L = q S C L (4.19)
Side Force
Y =
q S CS (4.20)
Aerodynamic Moments
Rolling Moment
l W = q S b C l (4.21)
Pitching Moment
mW =
qS
c Cm (4.22)
Yawing Moment
n W = q S b C n (4.23)
Dynamic Derivatives
k
C = C , , M , h , s rate (4.24)
2 VT
Where:
1
q = V 2T Dynamic Pressure units of force / unit area (4.25)
2
97
b= Wing Span units of length (4.26)
c= mean aerodynamic chord units of length (4.27)
2
S = Wing Area units of length (4.28)
= mass density mass /cubic volume (4.29)
V T = Speed unit distance / unit time (4.30)
k = dimensionless rate scale factor (4.31)
= Angleof Attack units of angle (4.32)
= SideSlip Angle units of angle (4.33)
M = MACH (4.34)
98
h = Altittude units of length (4.35)
s = Control Surface S deflection angle units of angle (4.36)
[ ]
cos cos sin sin cos
C w/ b = cossin cos sin sin (4.37)
sin 0 cos
Figure 4.4: Brumby UAV Moment Definition
The total aerodynamic forces and moments acting on the vehicle are the sum of
99
the individual forces and moments. For example the total lift force acting on the vehicle
is a function of Mach, Alpha, Beta, Altitude, and Control Surface deflection angles
summed with the thrust forces.
The cumulative forces and moments enter into the equations of motion through
b
the vectors F A ,T and M bA ,T . The aerodynamic force components
T
[ F A ,x FA,y F A, z ] are either the aerodynamic forces in the wind frame converted to
T
the body frame F bA ,T = C b /w [D w Y w Lw ] or already in the body frame
T
F bA ,T = [ Ab Y b N b ] . Figure 4.6 illustrates the Lift and Drag force vectors. Due to
the coordinate frame that Missile DATCOM is using the forces in the body frame are
T
defined F bA ,T = [Ab Y b N b ] . Where Ab is the axial force with respect to
the body and is positive increasing toward the nose along the positive body x-axis, Y b
is the side force with respect to the free-stream and is positive increasing out the
starboard wing from the center of mass, N b is the normal force and is positive
increasing from the center of mass along the positive body z-axis. Missile DATCOM
provides these values for every Mach and Alpha point. Equations 4.37 and 4.38 are the
dimensionalized Axial and Normal forces respectively, dimmensionalized Side force is
listed in Equations 4.19. Figure 4.5 illustrates the Axial and Normal force vectors.
Axial Force
A=
q S CA (4.38)
Normal Force
100
N =
q S CN (4.39)
Figure 4.5: Axial and Normal Forces
Figure 4.6: Lift and Drag Forces

101
4.3 Six Degree-of-Freedom Aircraft Model
A nonlinear six-degrees of freedom model was created using the flat earth
nonlinear equations of motion 4.37 . Since the variables of interest are only available
through integration of the nonlinear equations, one could linearize the nonlinear model
about an equilibrium point and represent the linearized system using a state transition
matrix typically used in state-space control theory. This, however, can be very difficult
and tedious, considering that the state transition matrix would have to be recalculated due
to the changing nonlinear time-varying aerodynamic contribution beyond the allowable
deviation from the equilibrium point. A better method would be to create a non-linear
model in The Mathwork's Matlab and Simulink environments. This allows the nonlinear
model to be created in the Simulink environment and programmed as an s-function. The
benefit of using an s-function is that, by the use of flags Simulink will integrate and keep
track of the state variables. The state variable vector given in Equation 4.39 is the
e n T
position vector in the navigation frame p , Euler Angle Vector T , Translational
Velocity Vector in the body frame v bCM / e T , and Angular Velocity Vector in the body
frame bb /e .
T
X = [ e
pn T
T v bCM / e T bb / eT ] (4.40)
The forces and moments acting on the vehicle enter the equations of motion as
the Force Vector in the body frame F bA ,T and the Moment Vector in the body frame
M bA ,T . The forces and moments are the sum of the aerodynamic contribution, denoted
102
with a subscript A, and the thrust contribution, denoted with a subscript T. The Thrust
force vector is composed of the forces acting on the center of mass in the body frame.
The total force equation is given in Equation 4.40 and the total moments equation is
given in Equation 4.41.
T T
F bA ,T = [ F A , x F A , y F A,z ] [ F T , x F T , y FT , z] (4.41)
T T
M bA ,T = [ l A , b mA ,b n A , b ] [ l T ,b mT , b nT ,b ] (4.42)
103
Chapter 5: Simulation
In this chapter a nonlinear aircraft model is developed using The Mathwork's
Matlab and Simulink environments. The nonlinear model has the aerodynamics trimmed
around an equilibrium point and then a linearized model is created. The linearized model
is used to analyze the static and dynamic stability of the model.
5.1 Simulink Nonlinear Aircraft Model
The nonlinear aircraft model is implemented as a Simulink model. The model
uses an s-function to perform the equations-of-motion calculations and Matlab functions
execute DATCOMTableMex.dll to perform the linear interpolation on the Missile
DATCOM for0021.dat data file. The model, shown in Figure 5.1, allows the user to input
the gravitational acceleration, inertia matrix, initial conditions, as well as input values for
the control surfaces.
Figure 5.1: Simulink Nonlinear Aircraft Model

104
Table 5.1: Brumby UAV Mass Properties
Mass Properties of the Brumby UAV Values Units

Mass 22.8543 Kg
Moment of Inertia (Jxx) 2.41583571804 Kg*m^2
Moment of Inertia (Jyy) 21.973713217110 kg*m^2
Moment of Inertia (Jzz) 23.942135938328 kg*m^2
Moment of Inertial (Jxz) -0.16090180279 kg*m^2
Gravity Constant 9.81 m/s^2
The components of the Brumby UAV including the airframe, power plant, as well
as the onboard instrumentation were treated as point masses and used to calculate the
location of the center-of-mass and the inertia matrix values. Table 5.2 contains the mass
properties of the Brumby UAV that were calculated by Sean Calhoun.[1]
The s-function requires the inertia matrix values, the gravity constant, current time
step, and the initial state vector as function inputs. Execution of the s-function with the
appropriate flags is controlled by the Simulink environment. The s-function provides the
following functionality shown in Table 5.2. There are other flags which are not used in
this simulation, and therefore will not be discussed.
Table 5.2: S-function Functionality
Flag Value Output

0 Initialization of state vector
1 Calculate derivatives at current time
3 Output current state values
105
The Matlab function that calculates the forces and moments acting on the aircraft
perform several important tasks. The inputs to the function are the state vector and the
control input values. The function tests the input values to see if the control surface
deflections are within the physical tolerances of the full scale aircraft. After an aircraft
specification has been created in the for005.dat file, the user must execute Missile
DATCOM to create the for021.dat file. The Matlab function is used to calculate the
forces and moments is a wrapper function for DATCOMTableMex.dll.
DATCOMTableMex.dll requires the for021.dat file be read and the aerodynamic
coefficients be stored in random access memory. Storing the aerodynamic data in
memory is accomplished by executing DATCOMTableMEX with the inputs being a flag
of 1 and the for021.dat filename. DATCOMTableMex.dll will return the table
identification number that signifies the location of the data in random access memory.
DATCOMTableMex accesses the aerodynamic coefficients stored in memory when
executed with a flag of 2. Executing DATCOMTableMex with inputs: a flag of 2, table
identification number, angle-of-attack in degrees, Mach value, altitude in units of length,
side slip value in degrees, control surface deflection values in degrees returns the
following outputs: the incremental contribution to the aerodynamic coefficients, stability
derivatives, and base aerodynamic coefficients for the aircraft model with zero control
surface deflection. These coefficients must be dimensionalized by using the equations
defined in Chapter 4. To overcome the complexity of calling DATCOMTableMex and
then dimensionalizing the aerodynamic forces and moments from the Simlulink model
environment a driver function was written. The Matlab driver function was defined as
106
forces_moments.m and outputs the force and moments in the body frame.
Forces_moments.m requires the state vector and the control input values as inputs. The
function then proceeds to calculate the aerodynamic angle-of-attack, side slip, and Mach
values which are inputs needed when datcomderive.m is called. The driver function
datcomderive.m then executes DATCOMTableMex.dll with the appropriate inputs. The
aerodynamic forces and moments returned by datcomderive.m are added to the thrust
forces and moments to create the total forces and moments that are acting on the aircraft
with respect to the body frame.
Table 5.3: DATCOMTableMex.dll Functionality
Flag Function Definition

1 tableID = DATCOMTableMex(flag,filename)
2 [DepDeltaIncrements, Derivatives_Stab, DepBaseIncrements] =DATCOMTableMex(flag,tableID,IndVariables)
4 DATCOMTableMex(flag)
Where,
filename - 'for021.dat'
tableID - pointer to data table in memory
deltadeg - [Starboard Ailevon Deflection Angle,Port Ailevon Deflection Angle,Starboard Rudder Deflection Angle,Port Rudder
Deflection Angle,0,0]
IndVariables - [Angle-of-Attack , MACH, altitude (-Z), SideSlip Angle , deltadeg]
DepDeltaIncrements - Incremental Control Surface Forces and Moments Contributions
Derivatives_Stab - Stability Derivatives
DepBaseIncrements - Vehicle with zero control surfaces deflection angles Force and Monents Contributions
Execution of datcomderive.m requires the user to input the angle-of-attack in
degrees, the side slip value in degrees, the altitude, control surface deflection angle
vector, Mach, the angular velocity vector, table identification number, the lateral
reference length, the longitudinal reference length, the reference area, the speed of
sound, and the fluid density. Both forces_moments.m and datcomderive.m are included
107
in the Appendix .
5.2 Trimmed Aircraft Flight
The simulation was trimmed for straight and level flight using the Simulink Trim
command. The trimmed control input values are given in Table 5.4. The values for the
trimmed initial conditions are given in Table 5.5. The control surfaces on the aircraft are
deflected such that the forces and moments on the aircraft are in equilibrium. The
translational and rotational accelerations on the aircraft are zero. This condition is known
as trimming the aircraft. Typically, this is performed for wings level straight and steady
flight. For a trimmed aircraft the translational velocity derivatives, rotational velocity
derivatives, and the derivatives of roll and pitch Euler angles are zero. The velocity
component along the Body x-axis velocity (U) and the velocity component along the
Body z-axis (W), the Euler Angle Theta ( ), and the Down position ( P Z ) are
allowed to have non zero constant values. East position ( P X ) and North position (
P Y ) are allowed to vary with time, while all other state variables must maintain values
of zero.
Table 5.4: Brumby UAV Control Input Trimmed Values (Case 1)
Control Inputs Values Units

Elevator -20.9891 Degrees
Aileron 0.0000 Degrees
Rudder 0.0000 Degrees
Thrust Force 80.4064 Newtons
108
Table 5.5: Brumby UAV State Variables Initial Condition Values (Case 1)
State Vector Initial Conditions Values Units

Navigation East Position ( P X ) 0.0000 meters
Navigation East Position ( P Y ) 0.0000 meters
Navigation East Position ( P Z ) 0.0000 meters
Euler Angle ( ) 0.0000 radians
Translational Velocity (U) 90.3775 meters/second
Translational Velocity (V) 0.0000 meters/second
Translational Velocity (W) 9.8658 meters/second
Angular Velocity (p) 0.0000 radians/second
Angular Velocity (q) 0.0000 radians/second
Angular Velocity (r) 0.0000 radians/second
Table 5.6: Brumby UAV Trimmed Aerodynamic Values (Case 1)
Aerodynamic Values of Trimmed Values Units

Condition
angle-of-attack ( ) 6.2299 degrees
Side-slip Angle ( ) 0.0000 degrees
Speed (S) 90.9144 meters / second
5.3 Linearized Aircraft Model
The model was linearized around this equilibrium point using the Simulink
command linmod. The state-space equation is defined in Equation 5.1 with state vector x
defined in Equation 5.2, and input vector given in Equation 5.3, and the output vector
109
given in Equation 5.4. The state-space representation coefficient matrices A, B, C and D
are listed as Equations 5.5-8.
X = Ax Bu
(5.1)
Y = Cx Du
T
x = [ p ]
e n T T b T b T
v CM /e b/ e (5.2)
T
u = [ ail ele rud thrust ] (5.3)
T
Y = [ p ]
e n T T b T b T
v CM / e b /e (5.4)
[ ]
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.9941 0.0000 0.1085 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 9.8658 0.0000 90.9144 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 90.9144 0.0000 0.1085 0.0000 0.9941 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 0.1092
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000
A = 0.0000
0.0000
0.0000 0.0000
0.0000 0.0000
0.0000
0.0000
0.0000
9.7521
0.0000
0.0000
0.0000
0.2003
0.0000
0.0000
0.0000
1.3375
0.0000
0.0000
0.0000 1.0059
9.8104 0.0000 (5.5)
0.0000 0.0000 0.0000 9.7521 0.0000 0.0000 0.0000 2.5025 0.0000 12.4164 0.0000 79.6670
0.0000 0.0000 0.0000 0.0000 1.0646 0.0000 0.9197 0.0000 10.4017 0.0000 89.8141 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 5.0595 0.0000 20.1594 0.0000 19.4863
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0733 0.0000 0.6712 0.0000 1.5359 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 11.0800 0.0000 12.0662 0.0000 52.4232
[ ]
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
B = 0.0000
0.0000
0.0000
0.1407
0.0000 0.0000
0.0296 0.0438 (5.6)
0.9344 0.0000 0.8710 0.0000
0.0000 1.7621 0.0000 0.0000
4.4417 0.0000 1.5911 0.0000
0.0000 0.1178 0.0011 0.0000
4.4318 0.0000 4.1784 0.0000
[ ]
1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
C = 0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
1.0000
0.0000
0.0000
1.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000 (5.7)
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000
0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 1.0000
110
[ ]
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
D = 0.0000 0.0000 0.0000 0.0000 (5.8)
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
0.0000 0.0000 0.0000 0.0000
Eigenvalues of the state differential equation A matrix are given in Equation 5.9.
e
The position vector in the navigation frame pn T
, was removed from the A coefficient
matrix whose eigenvalues are listed in Equation 5.9. The position vector in the navigation
frame is not needed for the stability analysis that is being performed in this chapter.
[ ]
0
27.388323.5888i
27.388323.5888i
6.03156.3905i
= 6.03156.3905i
20.3019
0.03750.1280i
(5.9)
0.03750.1280i
0.0067
[ ]
0.03750.1280i
Longitudinal = 0.03750.1280i
6.03156.3905i
(5.10)
6.03156.3905i
[ ]
0
0.0067
Lateral = 27.388323.5888i
(5.11)
27.388323.5888i
20.3019
For Bounded-Input Bounded-Output (BIBO) stability the non-zero eigenvalues of
the A Coefficient Matrix must contain only negative real parts. [9] Bounded-Input
Bounded-Output stability represents longitudinal and lateral stability in aircraft.
Equation 5.10 contains the longitudinal eigenvalues for the state variables
, U , W , q , and Equation 5.12 relates the eigenvalues to the longitudinal dynamics of
the aircraft. The lateral eigenvalues for the state variables , , V , p , q , associated
111
with the lateral dynamics are listed in Equation 5.11 and an explanation of the
eigenvalues effect on the lateral dynamics is listed in Equation 5.13. The explanation of
the eigenvalues includes the period of natural oscillation T and the damping ratio
for complex conjugate pairs and the time constant for real and distinct
eigenvalues.
0.03750.1280i Phugoid Mode , T = 47.1060 s , =0.2811 (5.12)

6.03156.3905i ShortPeriod Mode , T = 0.7150 s , =0.6864
The short-period mode is the natural mode of the aircraft and is the transient
response in the longitudinal direction. Once the short-period mode has decayed the
aircraft experiences a very lightly damped oscillation known as the phugoid mode.[7]
27.388323.5888i Dutch Roll Mode , T = 0.1738 s , =0.7577

20.3019 Roll Subsidence Mode , = 0.0493 s (5.13)
0.0067 Spiral Mode , = 148.8067 s
The dutch roll mode of the aircraft consists of rolling and yawing motion with
some side-slip and is similar to the motion of a drunken ice skater. The Brumby has a
dutch roll mode period of 0.1738 seconds and a damping ratio of 0.7577. The dutch roll
mode period for the Brumby is very short but highly damped. The roll subsidence mode
gives an indication of the time required for the rolling moment control inputs create the
rolling moment. The Brumby has a quick roll response at 0.0493 seconds. The spiral
mode of the aircraft is the time lapse before the aircraft to go into a downward spiral with
no control input correction. [7]
The Brumby was also trimmed for a coordinated turn with a constant rate of
climb. The turn rate used for this trim condition is 0.1 radians per second, and the rate of
112
climb is 0.5 meters per second. The turn rate was chosen so that the centripetal
acceleration on the aircraft would be less than 0.5 times the force of gravity during the
turn.
Table 5.7: Brumby UAV Control Input Trimmed Values (Case 2)
Control Inputs Values Units

Elevator -42.0978 Degrees
Aileron -0.0174 Degrees
Rudder 0.2862 Degrees
Thrust Force 92.9212 Newtons
5.4 Nonlinear Simulation Results
Nonlinear simulation was performed on the trimmed aircraft model, and the state
variables are plotted in this section. Figures 5.29 show the Brumby UAV trimmed for
straight and level flight (SLF). The reader should note that the Euler angle is
obscured by the Euler angle in Figure 5.3. This demonstrates the aircraft in a cruise
maneuver, such as when flying from one way point to another . Nonlinear simulation
results for the Brumby UAV trimmed for a coordinated turn with a constant rate of climb
(CTROC) are shown in Figures 5.1017.

113
Figure 5.2: Navigation Position Output (SLF)
Figure 5.3: Euler Angles Output (SLF)

114
Figure 5.4: Translational Velocities Output (SLF)
Figure 5.5: Angular Velocities Output (SLF)

115
Figure 5.6: Velocity Magnitude Output (SLF)
Figure 5.7: Aerodynamic Angles Output (SLF)

116
Figure 5.8: Flight-Path Angle Output (SLF)
Figure 5.9: Rate-of-Climb Output (SLF)

117
Figure 5.10: Navigation Position Ground Track Output (SLF)
Figure 5.11: Navigation Position 3-Dimensional Output (SLF)

118
Figure 5.12: Navigation Position Output (CTROC)
Figure 5.13: Euler Angles Output (CTROC)

119
Figure 5.14: Translational Velocities Output (CTROC)
Figure 5.15: Angular Velocities Output (CTROC)

120
Figure 5.16: Velocity Magnitude Output (CTROC)
Figure 5.17: Aerodynamic Angles Output (CTROC)

121
Figure 5.18: Flight-Path Angle Output (CTROC)
Figure 5.19: Rate-of-Climb Output (CTROC)

122
Figure 5.20: Navigation Position Ground Track Output (CTROC)
Figure 5.21: Navigation Position 3-Dimensional Output (CTROC)

123
5.4 Control Surface Doublet Simulation Results
The aircraft model will now be subjected to perturbations about the trimmed
equilibrium point. A doublet is composed of a positive displacement immediately
followed by a negative displacement with equal magnitude. The doublet differs from a
step input in that, a doublet has a finite duration and returns to the initial value. The
positive displacement must be identical to the negative displacement in both magnitude
and duration. Because the input is returned to the trimmed input value the net effect of
the doublet on the steady-state output is zero. The first trim condition is that of straight
and level flight and the input values are listed in Table 5.4. The second flight condition is
that of the coordinated turn with a constant rate of climb and the input values are listed in
Table 5.7 The Brumby UAV model will be subjected to the similar control surface
doublets as those presented in Reference [1]. Figures 5.1826 shows input perturbations
for the Brumby UAV trimmed for straight and level flight (SLF). Results for the input
perturbations to the Brumby UAV trimmed for a coordinated turn with a constant rate of
climb (CTROC) are shown in Figures 5.2735.

124
Table 5.8: Brumby UAV Control Effector Doublet Values
Control Effector Values Units Time (s)

Elevator Positive Displacement Trim Value + 0.01 Radians 7
Elevator Negative Displacement Trim Value - 0.01 Radians 9
Elevator Return to Trim Trim Value Radians 11
Aileron Positive Displacement Trim Value + 0.1 Radians 133
Aileron Negative Displacement Trim Value - 0.1 Radians 135
Aileron Return to Trim Trim Value Radians 137
Rudder Positive Displacement Trim Value + 0.01 Radians 261
Rudder Positive Displacement Trim Value - 0.01 Radians 263
Rudder Return to Trim Trim Value Radians 265
Thrust Force Positive Trim Value + 5.0 newtons 433
Displacement
Thrust Force Negative Trim Value 5.0 newtons 435
Displacement
Thrust Force Return to Trim Trim Value newtons 437
125
Figure 5.22: Doublet Response Navigation Position Output (SLF)
Figure 5.23: Doublet Response Euler Angles Output(SLF)

126
Figure 5.24: Doublet Response Translational Velocities Output(SLF)
Figure 5.25: Doublet Response Angular Velocities Output (SLF)

127
Figure 5.26: Doublet Response Velocity Magnitude Output (SLF)
Figure 5.27: Doublet Response Aerodynamic Angles Output (SLF)

128
Figure 5.28: Flight-Path Angle Output (SLF)
Figure 5.29: Rate-of-Climb Output (SLF)

129
Figure 5.30: Doublet Response Navigation Ground Track Output (SLF)
Figure 5.31: Doublet Response Navigation 3-Dimensional Output (SLF)

130
Figure 5.32: Control Surface Deflection Input Angles (SLF)
Figure 5.33: Aerodynamic Control Surface Deflection Input Angles (SLF)

131
Figure 5.34: Doublet Response Navigation Position Output (CTROC)
Figure 5.35: Doublet Response Euler Angles Output (CTROC)

132
Figure 5.36: Doublet Response Translational Velocities Output (CTROC)
Figure 5.37: Doublet Response Angular Velocities Output (CTROC)

133
Figure 5.38: Doublet Response Velocity Magnitude Output (CTROC)
Figure 5.39: Doublet Response Aerodynamic Angles Output (CTROC)

134
Figure 5.40: Flight-Path Angle Output (CTROC)
Figure 5.41: Rate-of-Climb Output (CTROC)

135
Figure 5.42: Doublet Response Navigation Ground Track Output (CTROC)
Figure 5.43: Doublet Response Navigation 3-Dimensional Output (CTROC)

136
Figure 5.44: Control Surface Deflection Input Angles (CTROC)
Figure 5.45: Aerodynamic Control Surface Deflection Input Angles (CTROC)

137
In Figures 5.23-26 and Figures 5.27-35 the Brumby UAV returns to the trimmed
equilibrium point after the doublet perturbation is applied. The model's ability to return to
the equilibrium point illustrates that the model is statically stable as well as dynamically
stable. Dynamic stability is defined as the time-dependent behavior of the aircraft being
stable in response to an impulsive input.[7] Once perturbed from the equilibrium point
the aircraft will return to the equilibrium point some time after the perturbation is applied.
The model presented in this thesis has been shown to be stable. In Calhoun's Thesis the
aerodynamic model created from time sampled data was shown to be unstable. The
model presented here has had the center of mass chosen so that it creates a longitudinal
statically stable aircraft. The benefit of using computational fluid dynamic prediction
codes is that the center-of-pressure of the lifting surface can be determined and the point
masses located in such a manner as to induce static stability.

138
Chapter 6: Conclusions and Future Work
This research has presented a six degree-of-freedom model of the Brumby UAV
using a computational fluid dynamic prediction code. The time history simulations show
that the trimmed nonlinear model is both longitudinally and laterally stable. The Brumby
UAV returns to the trimmed condition after the perturbation. This is just the first step in
creating a flight control system to be implemented on the physical vehicle.
The model must first be validated against flight test data to ensure that the model
is an adequate approximation of the physical model. The center of gravity of the aircraft
and the Inertia Tensor need to be recalculated. The Brumby UAV elevator control
surfaces are located on the lifting planform. If the center of gravity does not lie forward
of the center of pressure, then the center of gravity will create a negative moment about
the center of pressure. In order to cancel out this moment traditional aircraft use the
elevator control surface located on the horizontal stabilizer. If the center of gravity is
forward of the center of pressure then the elevator would need to apply a positive
moment. This acts as a spoiler on the lifting planform of the Brumby UAV, decreasing
the lift coefficient, increasing the drag coefficient, and inducing a positive pitching
moment. If the center of gravity is aft of the center of pressure then the elevators must
provide negative pitching moment. This would act as an additional lifting surface on the
Brumby UAV which would increase the amount of lift as well as increasing the amount
of drag, and inducing a positive pitching moment. The Brumby UAV may not have
enough control authority to correct for extreme misalignment between the center of
gravity and the center of pressure without introducing instability in the aerodynamic
139
forces and moments. The placement of components in the Brumby UAV should be
performed with consideration of the center of pressure. It may be possible for a human
pilot to counter act the natural instability of the aircraft induced by misaligned center of
gravity and center of pressure. The inertia matrix can be determined using the method
outlined by Miller in Reference [8].
The compensation scheme should include a state feedback loop as well as an
observer. The state feedback gains as well as the observer gains should be gain
scheduled. Gain Scheduling requires a finite set of feedback gains whose values are valid
only over a defined flight condition. This type of controller requires the least amount of
processor time or memory. [9]
The model and associated compensation scheme must be validated by simulation
of disturbance inputs. Disturbances should include responses to control surface failures,
wind gusts, and the power plant perturbations. The Simulink model described in Chapter
5 should be considered as a starting point in the simulation of perturbations. Failure
modes that should be explored are effectors that are seized or that have become
disconnected from the drive mechanism and are free to move, or a combination thereof.
140
References
[1] Calhoun, S.M., Six Degree-of-Freedom Modeling on an Uninhabited Aerial
Vehicle, Thesis: Ohio University, 2006.
[2] McDonnell Douglas Corporation, USAF Stability and Control DATCOM, 1960.
[3] McDonnell Douglas Corporation, The USAF Stability and Control Digital
DATCOM, 1979.
[4] United States Air Force, Missile DATCOM User's Manual, 1997.
[5] Abbott, I. H., A. E. Doenhoff, Theory of Wing Sections, New York: Dover, 1958.
[6] Anderson, J. D. , Fundamentals of Aerodynamics, New York: McGraw-Hill, 2001.
[7] Stevens, B. L., F. L. Lewis, Aircraft Control and Simulation, New York: Wiley,
2003.
[8] Miller, M. P., An Accurate Method of Measuring the Moments of Inertia of
Airplanes, 1930.
[9] Williams, R. L., D. A. Lawrence, Linear State-Space Control Systems, New York:
Wiley, 2007.
141
Appendix A.1: for005.dat File
CASEID Brumby
DAMP
PLOT
DIM M
DERIV RAD
MACH = 0.05,0.08,0.10,0.15,
ALT = 0.00,0.00,0.00,0.00,
ALPHA = -5.00,0.00,2.00,4.00,6.00,
ALPHA(6)=8.00,10.00,12.00,14.00,16.00,
ALPHA(11)=18.00,20.00,25.00,30.00,35.00,
BETA=0.,$
$REFQ SREF=1.251700,LREF=0.634700,LATREF=2.324000,XCG=0.85,ZCG=-0.04,$
$AXIBOD
TNOSE=OGIVE,LNOSE=0.1970,DNOSE=0.1524,LCENTR=1.7730,DCENTR=0.1524,
$
SSPAN=0.0000,0.2660,1.0096,
CHORD=1.0033,0.8048,0.2500,
XLE=0.97,
NPANEL=2.,
PHIF=90.00,270.00,
GAM=0.00,0.00,
CFOC=0.0000,0.1553,0.5000,$
NACA-1-4-1310
SSPAN=0.2660,0.6790,
CHORD=0.1040,0.1040,
XLE=5.66,
CFOC=1.0000,1.0000,
STA=1.,
SWEEP=13.99,
NPANEL=2.,
PHIF=90.00,-90.00,
GAM=-90.00,90.00,$
NACA-2-4-0020
SAVE
NEXT CASE
CASEID WING FLAPS
SAVE
NEXT CASE
142
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
143
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
CASEID RIGHT RUDDER
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
SAVE
144
NEXT CASE
SAVE
NEXT CASE
SAVE
NEXT CASE
$FLTCON BETA=-20.,$
SAVE
NEXT CASE
$FLTCON BETA=-10.,$
SAVE
NEXT CASE
$FLTCON BETA=10.,$
SAVE
NEXT CASE
$FLTCON BETA=20.,$
SAVE
NEXT CASE
$FLTCON BETA=0.,ALT=5*100.,$
SAVE
NEXT CASE
$FLTCON ALT=10*100.,$
SAVE
NEXT CASE
145
Appendix A.2 : Truncated for006.dat File

CONERR - INPUT ERROR CHECKING
ERROR CODES - N* DENOTES THE NUMBER OF OCCURENCES OF EACH

ERROR
A - UNKNOWN VARIABLE NAME
B - MISSING EQUAL SIGN FOLLOWING VARIABLE NAME
C - NON-ARRAY VARIABLE HAS AN ARRAY ELEMENTDESIGNATION - (N)
D - NON-ARRAY VARIABLE HAS MULTIPLE VALUES ASSIGNED
E - ASSIGNED VALUES EXCEED ARRAY DIMENSION
F - SYNTAX ERROR
************************* INPUT DATA CARDS

*************************
1 CASEID Brumby
2 DAMP
3 PLOT
4 DIM M
5 DERIV RAD
6 $FLTCON NMACH=1.0,ALT=12*0.,NALPHA=15.0,
7 MACH = 0.05,0.08,0.10,0.15,
8 ALT = 0.00,0.00,0.00,0.00,
9 ALPHA = -5.00,0.00,2.00,4.00,6.00,
10 ALPHA(6)=8.00,10.00,12.00,14.00,16.00,
11 ALPHA(11)=18.00,20.00,25.00,30.00,35.00,
12 BETA=0.,$
13 $REFQ
SREF=1.251700,LREF=0.634700,LATREF=2.324000,XCG=0.85,ZCG=-0.04,$
14 $AXIBOD
TNOSE=OGIVE,LNOSE=0.1970,DNOSE=0.1524,LCENTR=1.7730,DCENTR=0.1524,
$
** SUBSTITUTING NUMERIC FOR NAME OGIVE
16 SSPAN=0.0000,0.2660,1.0096,
17 CHORD=1.0033,0.8048,0.2500,
18 XLE=0.97,
19 NPANEL=2.,
20 PHIF=90.00,270.00,
146
21 GAM=0.00,0.00,
22 CFOC=0.0000,0.1553,0.5000,$
23 NACA-1-4-0310
25 SSPAN=0.2660,0.6726,
26 CHORD=0.4000,0.1952,
27 XLE=5.66,
28 CFOC=0.2600,0.5328,
29 STA=1.,
30 SWEEP=13.99,
31 NPANEL=2.,
32 PHIF=90.00,-90.00,
33 GAM=-90.00,90.00,$
34 NACA-2-4-0310
35 SAVE
36 NEXT CASE
37 CASEID WING FLAPS
38 $DEFLCT DELTA1=-45.00,0.,$
39 SAVE
40 NEXT CASE
41 $DEFLCT DELTA1=-35.00,0.,$
42 SAVE
43 NEXT CASE
44 $DEFLCT DELTA1=-25.00,0.,$
45 SAVE
46 NEXT CASE
47 $DEFLCT DELTA1=-15.00,0.,$
48 SAVE
49 NEXT CASE
50 $DEFLCT DELTA1=-5.00,0.,$
51 SAVE
52 NEXT CASE
53 $DEFLCT DELTA1=5.00,0.,$
54 SAVE
55 NEXT CASE
56 $DEFLCT DELTA1=15.00,0.,$
57 SAVE
58 NEXT CASE
59 $DEFLCT DELTA1=25.00,0.,$
60 SAVE
61 NEXT CASE
62 $DEFLCT DELTA1=35.00,0.,$
63 SAVE
147
64 NEXT CASE
65 $DEFLCT DELTA1=45.00,0.,$
66 SAVE
67 NEXT CASE
68 $DEFLCT DELTA1=0.0,45.00,$
69 SAVE
70 NEXT CASE
71 $DEFLCT DELTA1=0.0,35.00,$
72 SAVE
73 NEXT CASE
74 $DEFLCT DELTA1=0.0,25.00,$
75 SAVE
76 NEXT CASE
77 $DEFLCT DELTA1=0.0,15.00,$
78 SAVE
79 NEXT CASE
80 $DEFLCT DELTA1=0.0,5.00,$
81 SAVE
82 NEXT CASE
83 $DEFLCT DELTA1=0.0,-5.00,$
84 SAVE
85 NEXT CASE
86 $DEFLCT DELTA1=0.0,-15.00,$
87 SAVE
88 NEXT CASE
89 $DEFLCT DELTA1=0.0,-25.00,$
90 SAVE
91 NEXT CASE
92 $DEFLCT DELTA1=0.0,-35.00,$
93 SAVE
94 NEXT CASE
95 $DEFLCT DELTA1=0.0,-45.00,$
96 SAVE
97 NEXT CASE
98 CASEID RIGHT RUDDER
99 $DEFLCT DELTA1=0.,0.,$
100 $DEFLCT DELTA2=-25.00,0.0,$
101 SAVE
102 NEXT CASE
103 $DEFLCT DELTA2=-15.00,0.0,$
104 SAVE
105 NEXT CASE
106 $DEFLCT DELTA2=-5.00,0.0,$
107 SAVE
148
108 NEXT CASE

109 $DEFLCT DELTA2=5.00,0.0,$
110 SAVE
111 NEXT CASE
112 $DEFLCT DELTA2=15.00,0.0,$
113 SAVE
114 NEXT CASE
115 $DEFLCT DELTA2=25.00,0.0,$
116 SAVE
117 NEXT CASE
118 $DEFLCT DELTA2=0.0,-25.00,$
119 SAVE
120 NEXT CASE
121 $DEFLCT DELTA2=0.0,-15.00,$
122 SAVE
123 NEXT CASE
124 $DEFLCT DELTA2=0.0,-5.00,$
125 SAVE
126 NEXT CASE
127 $DEFLCT DELTA2=0.0,5.00,$
128 SAVE
129 NEXT CASE
130 $DEFLCT DELTA2=0.0,15.00,$
131 SAVE
132 NEXT CASE
133 $DEFLCT DELTA2=0.0,25.00,$
134 SAVE
135 NEXT CASE
136 $DEFLCT DELTA2=0.,0.,$
137 $FLTCON BETA=-20.,$
138 SAVE
139 NEXT CASE
140 $FLTCON BETA=-10.,$
141 SAVE
142 NEXT CASE
143 $FLTCON BETA=10.,$
144 SAVE
145 NEXT CASE
146 $FLTCON BETA=20.,$
147 SAVE
148 NEXT CASE
149 $FLTCON BETA=0.,ALT=5*100.,$
150 SAVE
151 NEXT CASE
149
152 $FLTCON ALT=10*100.,$

153 SAVE
NEXT CASE ** MISSING NEXT CASE CARD ADDED **
CASE 1
PAGE 1
CASE INPUTS
CASEID Brumby
DAMP
PLOT
DIM M
DERIV RAD
MACH = 0.05,0.08,0.10,0.15,
ALT = 0.00,0.00,0.00,0.00,
ALPHA = -5.00,0.00,2.00,4.00,6.00,
ALPHA(6)=8.00,10.00,12.00,14.00,16.00,
ALPHA(11)=18.00,20.00,25.00,30.00,35.00,
BETA=0.,$
$REFQ
SREF=1.251700,LREF=0.634700,LATREF=2.324000,XCG=0.85,ZCG=-0.04,$
$AXIBOD
TNOSE=1.,LNOSE=0.1970,DNOSE=0.1524,LCENTR=1.7730,DCENTR=0.1524,$
$FINSET1 SECTYP=1.,
SSPAN=0.0000,0.2660,1.0096,
CHORD=1.0033,0.8048,0.2500,
XLE=0.97,
NPANEL=2.,
PHIF=90.00,270.00,
GAM=0.00,0.00,
CFOC=0.0000,0.1553,0.5000,$
NACA-1-4-0310
$FINSET2 SECTYP=1.,
SSPAN=0.2660,0.6726,
CHORD=0.4000,0.1952,
XLE=5.66,
CFOC=0.2600,0.5328,
STA=1.,
SWEEP=13.99,
NPANEL=2.,
PHIF=90.00,-90.00,
150
GAM=-90.00,90.00,$
NACA-2-4-0310
SAVE
NEXT CASE
THE INPUT UNITS ARE IN METERS, THE SCALE FACTOR IS 1.0000
CASE 1
PAGE 2
Brumby
STATIC AERODYNAMICS FOR BODY-FIN SET 1 AND 2

MACH NO = 0.05 REYNOLDS NO = 1.159E+06 /M
ALTITUDE = 0.0 M DYNAMIC PRESSURE = 177.32 N/M**2
REF AREA = 1.252 M**2 MOMENT CENTER = 0.850 M
REF LENGTH = 0.63 M LAT REF LENGTH = 2.32 M

-5.00 -0.314 0.028 0.002 0.000 0.000 0.000

0.00 0.000 0.001 0.017 0.000 0.000 0.000
2.00 0.122 -0.010 0.014 0.000 0.000 0.000
4.00 0.249 -0.022 0.007 0.000 0.000 0.000
6.00 0.379 -0.034 -0.004 0.000 0.000 0.000
8.00 0.512 -0.047 -0.018 0.000 0.000 0.000
10.00 0.646 -0.060 -0.026 0.000 0.000 0.000
12.00 0.774 -0.071 -0.015 0.000 0.000 0.000
14.00 0.887 -0.080 0.006 0.000 0.000 0.000
16.00 0.989 -0.089 0.017 0.000 0.000 0.000
18.00 1.078 -0.097 0.016 0.000 0.000 0.000
20.00 1.150 -0.104 0.015 0.000 0.000 0.000
25.00 1.250 -0.114 0.015 0.000 0.000 0.000
30.00 1.161 -0.106 0.013 0.000 0.000 0.000
35.00 1.046 -0.095 0.016 0.000 0.000 0.000
-5.00 -0.313 0.029 -10.775 -0.089

0.00 0.000 0.017 0.000 -0.088
2.00 0.122 0.019 6.539 -0.081
151
4.00 0.248 0.025 10.017 -0.087

6.00 0.378 0.036 10.579 -0.090
8.00 0.510 0.053 9.603 -0.092
10.00 0.641 0.087 7.360 -0.092
12.00 0.760 0.146 5.197 -0.092
14.00 0.859 0.220 3.906 -0.090
16.00 0.946 0.289 3.278 -0.090
18.00 1.020 0.348 2.933 -0.090
20.00 1.075 0.408 2.637 -0.091
25.00 1.126 0.541 2.080 -0.091
30.00 0.998 0.592 1.687 -0.091
35.00 0.848 0.613 1.384 -0.091
X-C.P. MEAS. FROM MOMENT CENTER IN REF. LENGTHS, NEG. AFT OF

MOMENT CENTER
CASE 1
PAGE 3
Brumby
STATIC AERODYNAMICS FOR BODY-FIN SET 1 AND 2


-5.00 3.6478 -0.3067 -0.7278 1.4592 -0.0384
0.00 3.5494 -0.3106 -0.7165 1.4485 -0.0458
2.00 3.5692 -0.3245 -0.9691 1.9917 -0.0665
4.00 3.6835 -0.3461 -1.0636 2.1875 -0.0766
6.00 3.7641 -0.3635 -0.8770 1.7770 -0.0677
8.00 3.8196 -0.3681 -0.7706 1.5396 -0.0643
10.00 3.7468 -0.3418 -0.6814 1.3398 -0.0613
12.00 3.4472 -0.2911 -0.5935 1.1431 -0.0559
14.00 3.0888 -0.2591 -0.5019 0.9390 -0.0499
16.00 2.7384 -0.2478 -0.4146 0.7446 -0.0442
18.00 2.3028 -0.2185 -0.3337 0.5643 -0.0369
20.00 1.6032 -0.1534 -0.2625 0.4057 -0.0283
25.00 0.0607 -0.0087 -0.1120 0.0709 -0.0059
152
30.00 -1.1676 0.1066 -0.0437 -0.0828 0.0282

35.00 -1.4636 0.1327 0.1671 -0.5398 0.0212

1 0.00 0.00
2 0.00 0.00
CASE 1
PAGE 4
Brumby
BODY + 2 FIN SETS DYNAMIC DERIVATIVES


-5.00 0.573 -2.389 0.045 6.838 1.555
0.00 0.536 -2.388 0.005 6.838 1.555
2.00 0.550 -2.391 -0.019 6.838 1.555
4.00 0.568 -2.394 -0.036 6.838 1.555
6.00 0.579 -2.396 -0.058 6.838 1.555
8.00 0.588 -2.397 -0.053 6.838 1.555
10.00 0.585 -2.393 0.011 6.838 1.555
12.00 0.527 -2.383 0.081 6.838 1.555
14.00 0.483 -2.380 0.067 6.838 1.555
16.00 0.431 -2.379 0.001 6.838 1.555
18.00 0.372 -2.374 0.000 6.838 1.555
20.00 0.295 -2.368 0.000 6.838 1.555
25.00 0.116 -2.353 0.000 6.838 1.555
30.00 -0.200 -2.327 0.000 6.838 1.555
35.00 0.034 -2.343 0.000 6.838 1.555

CASE 1
PAGE 5
153
Brumby
BODY + 2 FIN SETS DYNAMIC DERIVATIVES


-5.00 3.058 -6.727 0.208 0.798 -1.721 -0.260
0.00 3.024 -6.655 0.205 0.675 -1.456 -0.259
2.00 3.020 -6.646 0.205 0.678 -1.462 -0.263
4.00 3.017 -6.639 0.205 0.700 -1.511 -0.268
6.00 3.013 -6.631 0.205 0.716 -1.544 -0.268
8.00 3.008 -6.621 0.204 0.728 -1.570 -0.271
10.00 3.003 -6.609 0.203 0.722 -1.558 -0.266
12.00 2.997 -6.596 0.203 0.625 -1.347 -0.234
14.00 2.992 -6.584 0.202 0.543 -1.172 -0.210
16.00 2.989 -6.579 0.202 0.453 -0.976 -0.188
18.00 2.991 -6.583 0.202 0.348 -0.750 -0.157
20.00 2.998 -6.598 0.202 0.217 -0.468 -0.119
25.00 3.044 -6.698 0.204 -0.083 0.179 -0.031
30.00 3.140 -6.903 0.210 -0.573 1.235 0.118
35.00 3.293 -7.234 0.220 -0.212 0.458 0.010
YAW AND ROLL RATE DERIVATIVES NON-DIMENSIONALIZED BY

R*LATREF/2*V
CASE 2
PAGE 1
CASE INPUTS
154
Appendix A.3 : for003.dat File

VARIABLES=ALPHA,CN,CM,CA,CY,CLN,CLL,DELTA,CL,CD
-5.0000 -0.3140 0.0280 0.0017 0.0000 0.0000 0.0000 0.0500 -0.3127 0.0290
0.0000 0.0000 0.0011 0.0167 0.0000 0.0000 0.0000 0.0500 0.0000 0.0167
2.0000 0.1222 -0.0099 0.0143 0.0000 0.0000 0.0000 0.0500 0.1216 0.0186
4.0000 0.2492 -0.0216 0.0074 0.0000 0.0000 0.0000 0.0500 0.2481 0.0248
6.0000 0.3793 -0.0340 -0.0040 0.0000 0.0000 0.0000 0.0500 0.3777 0.0357
8.0000 0.5120 -0.0470 -0.0184 0.0000 0.0000 0.0000 0.0500 0.5095 0.0531
10.0000 0.6460 -0.0597 -0.0255 0.0000 0.0000 0.0000 0.0500 0.6406 0.0870
12.0000 0.7735 -0.0708 -0.0150 0.0000 0.0000 0.0000 0.0500 0.7597 0.1462
14.0000 0.8867 -0.0800 0.0056 0.0000 0.0000 0.0000 0.0500 0.8590 0.2199
16.0000 0.9892 -0.0889 0.0167 0.0000 0.0000 0.0000 0.0500 0.9463 0.2887
18.0000 1.0778 -0.0973 0.0155 0.0000 0.0000 0.0000 0.0500 1.0203 0.3478
20.0000 1.1500 -0.1042 0.0154 0.0000 0.0000 0.0000 0.0500 1.0753 0.4078
25.0000 1.2495 -0.1139 0.0148 0.0000 0.0000 0.0000 0.0500 1.1262 0.5414
30.0000 1.1605 -0.1057 0.0134 0.0000 0.0000 0.0000 0.0500 0.9984 0.5919
35.0000 1.0457 -0.0953 0.0157 0.0000 0.0000 0.0000 0.0500 0.8476 0.6126
155
Appendix A.4 : for021.dat File

VARIABLES: MACH,ALTITUDE,SIDESLIP,DEL1,DEL2,DEL3,DEL4
ROWS, TOTAL COLUMNS, COLUMNS OF DERIVATIVES
DATA:
ALPHA,CN,CM,CA,CY,CLN,CLL,CNQ,CMQ,CAQ,CYR,CLNR,CLLR,CYP,CLNP,C
LLP
0.05 0.0 0.00 0.0 0.0 0.0 0.0 0.0 0.0
15.0 16.0 9.0
-0.500E+01 -0.3140E+00 0.2799E-01 0.1657E-02 0.7704E-08 0.4366E-08
-0.9096E-10 0.5728E+00 -0.2389E+01 0.4518E-01 0.3058E+01 -0.6727E+01
0.2077E+00 0.7981E+00 -0.1721E+01 -0.2599E+00
0.000E+00 0.0000E+00 0.1053E-02 0.1671E-01 0.0000E+00 0.0000E+00
0.0000E+00 0.5362E+00 -0.2388E+01 0.4789E-02 0.3024E+01 -0.6655E+01
0.2054E+00 0.6749E+00 -0.1456E+01 -0.2592E+00
0.200E+01 0.1222E+00 -0.9857E-02 0.1434E-01 -0.2767E-08 -0.2208E-08
0.5058E-10 0.5503E+00 -0.2391E+01 -0.1890E-01 0.3020E+01 -0.6646E+01
0.2053E+00 0.6777E+00 -0.1462E+01 -0.2631E+00
0.400E+01 0.2492E+00 -0.2160E-01 0.7400E-02 -0.8889E-08 0.2516E-08
-0.1054E-09 0.5677E+00 -0.2394E+01 -0.3617E-01 0.3017E+01 -0.6639E+01
0.2053E+00 0.7004E+00 -0.1511E+01 -0.2675E+00
0.600E+01 0.3793E+00 -0.3402E-01 -0.3973E-02 -0.7599E-08 -0.8943E-08
0.3458E-09 0.5792E+00 -0.2396E+01 -0.5754E-01 0.3013E+01 -0.6631E+01
0.2047E+00 0.7160E+00 -0.1544E+01 -0.2678E+00
0.800E+01 0.5120E+00 -0.4698E-01 -0.1837E-01 -0.2033E-07 0.9691E-08
-0.3499E-09 0.5878E+00 -0.2397E+01 -0.5294E-01 0.3008E+01 -0.6621E+01
0.2040E+00 0.7280E+00 -0.1570E+01 -0.2711E+00
0.100E+02 0.6460E+00 -0.5972E-01 -0.2552E-01 -0.3312E-07 0.2838E-07
-0.7916E-09 0.5851E+00 -0.2393E+01 0.1105E-01 0.3003E+01 -0.6609E+01
0.2034E+00 0.7223E+00 -0.1558E+01 -0.2657E+00
0.120E+02 0.7735E+00 -0.7084E-01 -0.1496E-01 -0.2848E-07 0.9935E-08
-0.3882E-09 0.5272E+00 -0.2383E+01 0.8061E-01 0.2997E+01 -0.6596E+01
0.2027E+00 0.6247E+00 -0.1347E+01 -0.2340E+00
0.140E+02 0.8867E+00 -0.8004E-01 0.5581E-02 -0.4062E-07 0.2866E-07
-0.9540E-09 0.4830E+00 -0.2380E+01 0.6722E-01 0.2992E+01 -0.6584E+01
0.2020E+00 0.5433E+00 -0.1172E+01 -0.2103E+00
0.160E+02 0.9892E+00 -0.8893E-01 0.1670E-01 -0.2650E-07 -0.8508E-08
0.1298E-09 0.4311E+00 -0.2379E+01 0.9943E-03 0.2989E+01 -0.6579E+01
0.2016E+00 0.4527E+00 -0.9764E+00 -0.1885E+00
0.180E+02 0.1078E+01 -0.9734E-01 0.1553E-01 -0.3353E-07 0.8890E-09
-0.1576E-09 0.3715E+00 -0.2374E+01 -0.3844E-03 0.2991E+01 -0.6583E+01
0.2015E+00 0.3479E+00 -0.7504E+00 -0.1575E+00
0.200E+02 0.1150E+01 -0.1042E+00 0.1541E-01 -0.2487E-07 -0.2242E-07
0.6461E-09 0.2951E+00 -0.2368E+01 -0.2330E-03 0.2998E+01 -0.6598E+01
156
0.2018E+00 0.2169E+00 -0.4678E+00 -0.1190E+00

0.250E+02 0.1250E+01 -0.1139E+00 0.1476E-01 -0.2552E-07 -0.2709E-07
0.6431E-09 0.1160E+00 -0.2353E+01 -0.2254E-04 0.3044E+01 -0.6698E+01
0.2045E+00 -0.8301E-01 0.1790E+00 -0.3076E-01
0.300E+02 0.1161E+01 -0.1057E+00 0.1339E-01 -0.1689E-07 -0.3895E-07
0.1129E-08 -0.2002E+00 -0.2327E+01 0.8931E-04 0.3140E+01 -0.6903E+01
0.2104E+00 -0.5727E+00 0.1235E+01 0.1176E+00
0.350E+02 0.1046E+01 -0.9526E-01 0.1566E-01 -0.3030E-07 -0.1511E-08
-0.7884E-10 0.3410E-01 -0.2343E+01 0.8568E-05 0.3293E+01 -0.7234E+01
0.2204E+00 -0.2124E+00 0.4581E+00 0.9807E-02
0.05 0.0 0.00 -45.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.5850E+00 0.5764E-01 0.5884E-01 -0.1234E+00 0.2662E+00
0.3176E-01
0.000E+00 -0.2620E+00 0.2735E-01 0.3523E-01 -0.1432E+00 0.3090E+00
0.3119E-01
0.200E+01 -0.1344E+00 0.1581E-01 0.3091E-01 -0.1421E+00 0.3066E+00
0.3087E-01
0.400E+01 -0.7230E-02 0.4018E-02 0.2301E-01 -0.1377E+00 0.2969E+00
0.3112E-01
0.600E+01 0.1188E+00 -0.7932E-02 0.1222E-01 -0.1355E+00 0.2922E+00
0.3156E-01
0.800E+01 0.2430E+00 -0.2003E-01 -0.2035E-02 -0.1366E+00 0.2947E+00
0.3209E-01
0.100E+02 0.3679E+00 -0.3234E-01 -0.1694E-01 -0.1390E+00 0.2998E+00
0.3271E-01
0.120E+02 0.4936E+00 -0.4449E-01 -0.2622E-01 -0.1403E+00 0.3026E+00
0.3290E-01
0.140E+02 0.6138E+00 -0.5589E-01 -0.3030E-01 -0.1377E+00 0.2970E+00
0.3195E-01
0.160E+02 0.7299E+00 -0.6726E-01 -0.3844E-01 -0.1320E+00 0.2848E+00
0.3031E-01
0.180E+02 0.8406E+00 -0.7856E-01 -0.5191E-01 -0.1225E+00 0.2643E+00
0.2785E-01
0.200E+02 0.9421E+00 -0.8859E-01 -0.5773E-01 -0.1093E+00 0.2357E+00
0.2477E-01
0.250E+02 0.1132E+01 -0.1070E+00 -0.5933E-01 -0.6329E-01 0.1365E+00
0.1522E-01
0.300E+02 0.1192E+01 -0.1142E+00 -0.7227E-01 0.5965E-02 -0.1286E-01
-0.5753E-04
0.350E+02 0.1154E+01 -0.1116E+00 -0.7500E-01 0.6543E-01 -0.1411E+00
-0.1318E-01
0.05 0.0 0.00 -35.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
157
-0.500E+01 -0.5509E+00 0.5319E-01 0.4019E-01 -0.1138E+00 0.2455E+00

0.2764E-01
0.000E+00 -0.2237E+00 0.2328E-01 0.2895E-01 -0.1261E+00 0.2721E+00
0.2651E-01
0.200E+01 -0.9688E-01 0.1184E-01 0.2507E-01 -0.1220E+00 0.2632E+00
0.2646E-01
0.400E+01 0.2944E-01 0.1780E-03 0.1798E-01 -0.1166E+00 0.2514E+00
0.2682E-01
0.600E+01 0.1542E+00 -0.1163E-01 0.7684E-02 -0.1164E+00 0.2511E+00
0.2723E-01
0.800E+01 0.2784E+00 -0.2375E-01 -0.6805E-02 -0.1190E+00 0.2566E+00
0.2765E-01
0.100E+02 0.4050E+00 -0.3623E-01 -0.2174E-01 -0.1215E+00 0.2621E+00
0.2810E-01
0.120E+02 0.5320E+00 -0.4848E-01 -0.3071E-01 -0.1225E+00 0.2642E+00
0.2815E-01
0.140E+02 0.6531E+00 -0.5999E-01 -0.3494E-01 -0.1193E+00 0.2573E+00
0.2712E-01
0.160E+02 0.7701E+00 -0.7136E-01 -0.4148E-01 -0.1127E+00 0.2431E+00
0.2534E-01
0.180E+02 0.8806E+00 -0.8227E-01 -0.4909E-01 -0.1023E+00 0.2206E+00
0.2297E-01
0.200E+02 0.9781E+00 -0.9149E-01 -0.4816E-01 -0.8993E-01 0.1940E+00
0.2046E-01
0.250E+02 0.1159E+01 -0.1092E+00 -0.5214E-01 -0.4844E-01 0.1045E+00
0.1170E-01
0.300E+02 0.1204E+01 -0.1146E+00 -0.6175E-01 0.1397E-01 -0.3012E-01
-0.2196E-02
0.350E+02 0.1147E+01 -0.1100E+00 -0.6110E-01 0.6016E-01 -0.1297E+00
-0.1245E-01
0.05 0.0 0.00 -25.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.5158E+00 0.4891E-01 0.2578E-01 -0.1042E+00 0.2247E+00
0.2323E-01
0.000E+00 -0.1875E+00 0.1952E-01 0.2432E-01 -0.1073E+00 0.2315E+00
0.2228E-01
0.200E+01 -0.6153E-01 0.8209E-02 0.2127E-01 -0.1008E+00 0.2175E+00
0.2239E-01
0.400E+01 0.6374E-01 -0.3318E-02 0.1480E-01 -0.9714E-01 0.2095E+00
0.2272E-01
0.600E+01 0.1877E+00 -0.1506E-01 0.4312E-02 -0.9826E-01 0.2119E+00
0.2311E-01
0.800E+01 0.3130E+00 -0.2731E-01 -0.1049E-01 -0.1011E+00 0.2180E+00
0.2345E-01
158
0.100E+02 0.4412E+00 -0.3995E-01 -0.2543E-01 -0.1035E+00 0.2233E+00

0.2375E-01
0.120E+02 0.5692E+00 -0.5231E-01 -0.3433E-01 -0.1044E+00 0.2251E+00
0.2369E-01
0.140E+02 0.6912E+00 -0.6385E-01 -0.3761E-01 -0.1004E+00 0.2165E+00
0.2249E-01
0.160E+02 0.8087E+00 -0.7503E-01 -0.4036E-01 -0.9285E-01 0.2003E+00
0.2071E-01
0.180E+02 0.9168E+00 -0.8534E-01 -0.4196E-01 -0.8292E-01 0.1788E+00
0.1870E-01
0.200E+02 0.1011E+01 -0.9399E-01 -0.3767E-01 -0.7232E-01 0.1560E+00
0.1665E-01
0.250E+02 0.1182E+01 -0.1109E+00 -0.4377E-01 -0.3600E-01 0.7763E-01
0.8698E-02
0.300E+02 0.1212E+01 -0.1147E+00 -0.5101E-01 0.2002E-01 -0.4317E-01
-0.3837E-02
0.350E+02 0.1131E+01 -0.1075E+00 -0.4712E-01 0.4986E-01 -0.1075E+00
-0.1056E-01
0.05 0.0 0.00 -15.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.4812E+00 0.4492E-01 0.1535E-01 -0.9107E-01 0.1964E+00
0.1900E-01
0.000E+00 -0.1541E+00 0.1611E-01 0.2115E-01 -0.8735E-01 0.1884E+00
0.1849E-01
0.200E+01 -0.2901E-01 0.4946E-02 0.1901E-01 -0.8168E-01 0.1762E+00
0.1859E-01
0.400E+01 0.9512E-01 -0.6467E-02 0.1267E-01 -0.7984E-01 0.1722E+00
0.1892E-01
0.600E+01 0.2192E+00 -0.1825E-01 0.1813E-02 -0.8153E-01 0.1759E+00
0.1925E-01
0.800E+01 0.3460E+00 -0.3066E-01 -0.1325E-01 -0.8380E-01 0.1807E+00
0.1948E-01
0.100E+02 0.4755E+00 -0.4343E-01 -0.2816E-01 -0.8591E-01 0.1853E+00
0.1971E-01
0.120E+02 0.6044E+00 -0.5587E-01 -0.3694E-01 -0.8628E-01 0.1861E+00
0.1957E-01
0.140E+02 0.7270E+00 -0.6735E-01 -0.3815E-01 -0.8164E-01 0.1761E+00
0.1823E-01
0.160E+02 0.8440E+00 -0.7814E-01 -0.3537E-01 -0.7409E-01 0.1598E+00
0.1657E-01
0.180E+02 0.9484E+00 -0.8774E-01 -0.3151E-01 -0.6623E-01 0.1428E+00
0.1504E-01
0.200E+02 0.1040E+01 -0.9616E-01 -0.2748E-01 -0.5695E-01 0.1228E+00
0.1314E-01
159
0.250E+02 0.1200E+01 -0.1122E+00 -0.3509E-01 -0.2611E-01 0.5631E-01

0.6285E-02
0.300E+02 0.1216E+01 -0.1145E+00 -0.4046E-01 0.2413E-01 -0.5203E-01
-0.4981E-02
0.350E+02 0.1111E+01 -0.1048E+00 -0.3429E-01 0.3756E-01 -0.8100E-01
-0.8111E-02
0.05 0.0 0.00 -5.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3704E+00 0.3339E-01 0.1498E-02 -0.3259E-01 0.7029E-01
0.6294E-02
0.000E+00 -0.5119E-01 0.5995E-02 0.1721E-01 -0.2764E-01 0.5963E-01
0.6374E-02
0.200E+01 0.7051E-01 -0.4850E-02 0.1511E-01 -0.2673E-01 0.5766E-01
0.6454E-02
0.400E+01 0.1950E+00 -0.1634E-01 0.8211E-02 -0.2753E-01 0.5938E-01
0.6594E-02
0.600E+01 0.3232E+00 -0.2856E-01 -0.3026E-02 -0.2833E-01 0.6111E-01
0.6623E-02
0.800E+01 0.4542E+00 -0.4140E-01 -0.1829E-01 -0.2915E-01 0.6287E-01
0.6689E-02
0.100E+02 0.5870E+00 -0.5440E-01 -0.3132E-01 -0.2978E-01 0.6424E-01
0.6732E-02
0.120E+02 0.7176E+00 -0.6643E-01 -0.3074E-01 -0.2851E-01 0.6150E-01
0.6299E-02
0.140E+02 0.8366E+00 -0.7654E-01 -0.1559E-01 -0.2541E-01 0.5480E-01
0.5502E-02
0.160E+02 0.9437E+00 -0.8565E-01 -0.1191E-02 -0.2316E-01 0.4995E-01
0.5215E-02
0.180E+02 0.1039E+01 -0.9444E-01 0.1133E-02 -0.1999E-01 0.4310E-01
0.4489E-02
0.200E+02 0.1119E+01 -0.1021E+00 -0.7539E-03 -0.1610E-01 0.3471E-01
0.3617E-02
0.250E+02 0.1240E+01 -0.1140E+00 -0.3304E-02 -0.5250E-02 0.1132E-01
0.1217E-02
0.300E+02 0.1196E+01 -0.1103E+00 -0.4511E-02 0.1738E-01 -0.3749E-01
-0.3898E-02
0.350E+02 0.1057E+01 -0.9731E-01 0.4005E-03 0.5968E-02 -0.1287E-01
-0.1344E-02
0.05 0.0 0.00 5.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.2589E+00 0.2275E-01 0.2657E-02 0.3098E-01 -0.6681E-01
-0.6393E-02
0.000E+00 0.5119E-01 -0.3825E-02 0.1721E-01 0.2764E-01 -0.5962E-01
-0.6374E-02
160
0.200E+01 0.1756E+00 -0.1497E-01 0.1467E-01 0.2807E-01 -0.6055E-01

-0.6512E-02
0.400E+01 0.3046E+00 -0.2691E-01 0.7734E-02 0.2873E-01 -0.6197E-01
-0.6551E-02
0.600E+01 0.4365E+00 -0.3949E-01 -0.3476E-02 0.2944E-01 -0.6351E-01
-0.6590E-02
0.800E+01 0.5705E+00 -0.5231E-01 -0.1354E-01 0.3005E-01 -0.6481E-01
-0.6654E-02
0.100E+02 0.7029E+00 -0.6428E-01 -0.1077E-01 0.2903E-01 -0.6262E-01
-0.6283E-02
0.120E+02 0.8241E+00 -0.7432E-01 0.7337E-02 0.2576E-01 -0.5555E-01
-0.5453E-02
0.140E+02 0.9328E+00 -0.8323E-01 0.2585E-01 0.2349E-01 -0.5067E-01
-0.5152E-02
0.160E+02 0.1029E+01 -0.9185E-01 0.3180E-01 0.2030E-01 -0.4378E-01
-0.4430E-02
0.180E+02 0.1110E+01 -0.9944E-01 0.3229E-01 0.1644E-01 -0.3545E-01
-0.3565E-02
0.200E+02 0.1173E+01 -0.1053E+00 0.3299E-01 0.1171E-01 -0.2525E-01
-0.2517E-02
0.250E+02 0.1248E+01 -0.1125E+00 0.3304E-01 -0.1315E-02 0.2835E-02
0.3598E-03
0.300E+02 0.1124E+01 -0.1011E+00 0.2912E-01 -0.1782E-01 0.3843E-01
0.4134E-02
0.350E+02 0.1041E+01 -0.9388E-01 0.3045E-01 -0.1842E-02 0.3971E-02
0.4814E-03
0.05 0.0 0.00 15.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.1571E+00 0.1327E-01 0.7522E-02 0.8750E-01 -0.1887E+00
-0.1862E-01
0.000E+00 0.1541E+00 -0.1345E-01 0.2117E-01 0.8656E-01 -0.1867E+00
-0.1854E-01
0.200E+01 0.2821E+00 -0.2492E-01 0.1895E-01 0.8660E-01 -0.1868E+00
-0.1887E-01
0.400E+01 0.4142E+00 -0.3701E-01 0.1456E-01 0.8730E-01 -0.1883E+00
-0.1912E-01
0.600E+01 0.5477E+00 -0.4905E-01 0.1461E-01 0.8766E-01 -0.1891E+00
-0.1920E-01
0.800E+01 0.6760E+00 -0.6023E-01 0.2210E-01 0.8424E-01 -0.1817E+00
-0.1819E-01
0.100E+02 0.7982E+00 -0.7066E-01 0.3404E-01 0.7724E-01 -0.1666E+00
-0.1637E-01
0.120E+02 0.9093E+00 -0.8007E-01 0.4673E-01 0.6913E-01 -0.1491E+00
-0.1467E-01
161
0.140E+02 0.1006E+01 -0.8814E-01 0.5982E-01 0.6024E-01 -0.1299E+00

-0.1288E-01
0.160E+02 0.1087E+01 -0.9524E-01 0.6632E-01 0.4880E-01 -0.1052E+00
-0.1028E-01
0.180E+02 0.1151E+01 -0.1011E+00 0.6777E-01 0.3593E-01 -0.7749E-01
-0.7397E-02
0.200E+02 0.1198E+01 -0.1054E+00 0.6887E-01 0.2323E-01 -0.5010E-01
-0.4593E-02
0.250E+02 0.1195E+01 -0.1055E+00 0.6347E-01 -0.3166E-01 0.6827E-01
0.7585E-02
0.300E+02 0.1086E+01 -0.9568E-01 0.5668E-01 -0.3220E-01 0.6944E-01
0.7784E-02
0.350E+02 0.1042E+01 -0.9214E-01 0.5926E-01 0.8058E-03 -0.1738E-02
0.2360E-03
0.05 0.0 0.00 25.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.1259E+00 0.1043E-01 0.1003E-01 0.1056E+00 -0.2277E+00
-0.2238E-01
0.000E+00 0.1875E+00 -0.1646E-01 0.2426E-01 0.1061E+00 -0.2289E+00
-0.2236E-01
0.200E+01 0.3165E+00 -0.2796E-01 0.2301E-01 0.1049E+00 -0.2264E+00
-0.2283E-01
0.400E+01 0.4492E+00 -0.3988E-01 0.2235E-01 0.1045E+00 -0.2254E+00
-0.2317E-01
0.600E+01 0.5807E+00 -0.5138E-01 0.2797E-01 0.1030E+00 -0.2221E+00
-0.2292E-01
0.800E+01 0.7055E+00 -0.6209E-01 0.3776E-01 0.9774E-01 -0.2108E+00
-0.2133E-01
0.100E+02 0.8249E+00 -0.7239E-01 0.4746E-01 0.8978E-01 -0.1937E+00
-0.1924E-01
0.120E+02 0.9318E+00 -0.8149E-01 0.5877E-01 0.8032E-01 -0.1732E+00
-0.1701E-01
0.140E+02 0.1023E+01 -0.8907E-01 0.7196E-01 0.6891E-01 -0.1486E+00
-0.1456E-01
0.160E+02 0.1099E+01 -0.9567E-01 0.7794E-01 0.5447E-01 -0.1175E+00
-0.1129E-01
0.180E+02 0.1158E+01 -0.1011E+00 0.7939E-01 0.3917E-01 -0.8449E-01
-0.7869E-02
0.200E+02 0.1198E+01 -0.1048E+00 0.8006E-01 0.2271E-01 -0.4898E-01
-0.4242E-02
0.250E+02 0.1173E+01 -0.1028E+00 0.7111E-01 -0.4426E-01 0.9546E-01
0.1060E-01
0.300E+02 0.1080E+01 -0.9460E-01 0.6544E-01 -0.3265E-01 0.7041E-01
0.8078E-02
162
0.350E+02 0.1044E+01 -0.9175E-01 0.6868E-01 0.2933E-02 -0.6326E-02

-0.6406E-04
0.05 0.0 0.00 35.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.9218E-01 0.7397E-02 0.1334E-01 0.1252E+00 -0.2702E+00
-0.2639E-01
0.000E+00 0.2237E+00 -0.1964E-01 0.2879E-01 0.1248E+00 -0.2693E+00
-0.2659E-01
0.200E+01 0.3536E+00 -0.3111E-01 0.2949E-01 0.1222E+00 -0.2636E+00
-0.2726E-01
0.400E+01 0.4861E+00 -0.4264E-01 0.3475E-01 0.1206E+00 -0.2602E+00
-0.2750E-01
0.600E+01 0.6136E+00 -0.5343E-01 0.4559E-01 0.1168E+00 -0.2520E+00
-0.2660E-01
0.800E+01 0.7356E+00 -0.6393E-01 0.5450E-01 0.1104E+00 -0.2382E+00
-0.2467E-01
0.100E+02 0.8511E+00 -0.7410E-01 0.6034E-01 0.1011E+00 -0.2181E+00
-0.2204E-01
0.120E+02 0.9531E+00 -0.8268E-01 0.7257E-01 0.9025E-01 -0.1947E+00
-0.1916E-01
0.140E+02 0.1038E+01 -0.8971E-01 0.8531E-01 0.7628E-01 -0.1645E+00
-0.1589E-01
0.160E+02 0.1108E+01 -0.9583E-01 0.9059E-01 0.5899E-01 -0.1272E+00
-0.1198E-01
0.180E+02 0.1162E+01 -0.1007E+00 0.9176E-01 0.4072E-01 -0.8783E-01
-0.7904E-02
0.200E+02 0.1191E+01 -0.1034E+00 0.9128E-01 0.1823E-01 -0.3932E-01
-0.2966E-02
0.250E+02 0.1153E+01 -0.1004E+00 0.7892E-01 -0.5535E-01 0.1194E+00
0.1329E-01
0.300E+02 0.1076E+01 -0.9358E-01 0.7498E-01 -0.3206E-01 0.6915E-01
0.8191E-02
0.350E+02 0.1047E+01 -0.9137E-01 0.7901E-01 0.5669E-02 -0.1223E-01
-0.4460E-03
0.05 0.0 0.00 45.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.5613E-01 0.4253E-02 0.1845E-01 0.1459E+00 -0.3147E+00
-0.3068E-01
0.000E+00 0.2620E+00 -0.2291E-01 0.3518E-01 0.1420E+00 -0.3063E+00
-0.3127E-01
0.200E+01 0.3925E+00 -0.3421E-01 0.3961E-01 0.1382E+00 -0.2980E+00
-0.3199E-01
0.400E+01 0.5225E+00 -0.4512E-01 0.5088E-01 0.1347E+00 -0.2905E+00
-0.3178E-01
163
0.600E+01 0.6461E+00 -0.5542E-01 0.6370E-01 0.1293E+00 -0.2788E+00

-0.3022E-01
0.800E+01 0.7648E+00 -0.6579E-01 0.6964E-01 0.1219E+00 -0.2629E+00
-0.2791E-01
0.100E+02 0.8758E+00 -0.7558E-01 0.7480E-01 0.1112E+00 -0.2398E+00
-0.2459E-01
0.120E+02 0.9718E+00 -0.8355E-01 0.8745E-01 0.9828E-01 -0.2120E+00
-0.2091E-01
0.140E+02 0.1051E+01 -0.9004E-01 0.9948E-01 0.8198E-01 -0.1768E+00
-0.1681E-01
0.160E+02 0.1116E+01 -0.9570E-01 0.1039E+00 0.6207E-01 -0.1339E+00
-0.1227E-01
0.180E+02 0.1161E+01 -0.9982E-01 0.1042E+00 0.3894E-01 -0.8397E-01
-0.7142E-02
0.200E+02 0.1175E+01 -0.1012E+00 0.1015E+00 0.8058E-02 -0.1738E-01
-0.3955E-03
0.250E+02 0.1139E+01 -0.9850E-01 0.8741E-01 -0.6306E-01 0.1360E+00
0.1526E-01
0.300E+02 0.1073E+01 -0.9264E-01 0.8521E-01 -0.3043E-01 0.6563E-01
0.8126E-02
0.350E+02 0.1050E+01 -0.9098E-01 0.9009E-01 0.8845E-02 -0.1907E-01
-0.8644E-03
0.05 0.0 0.00 0.0 -45.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.5850E+00 0.5764E-01 0.5884E-01 0.1234E+00 -0.2662E+00
-0.3176E-01
0.000E+00 -0.2620E+00 0.2735E-01 0.3523E-01 0.1432E+00 -0.3090E+00
-0.3119E-01
0.200E+01 -0.1344E+00 0.1581E-01 0.3091E-01 0.1421E+00 -0.3066E+00
-0.3087E-01
0.400E+01 -0.7230E-02 0.4018E-02 0.2301E-01 0.1377E+00 -0.2969E+00
-0.3112E-01
0.600E+01 0.1188E+00 -0.7932E-02 0.1222E-01 0.1355E+00 -0.2922E+00
-0.3156E-01
0.800E+01 0.2430E+00 -0.2003E-01 -0.2035E-02 0.1366E+00 -0.2947E+00
-0.3209E-01
0.100E+02 0.3679E+00 -0.3234E-01 -0.1694E-01 0.1390E+00 -0.2998E+00
-0.3271E-01
0.120E+02 0.4936E+00 -0.4449E-01 -0.2622E-01 0.1403E+00 -0.3026E+00
-0.3290E-01
0.140E+02 0.6138E+00 -0.5589E-01 -0.3030E-01 0.1377E+00 -0.2970E+00
-0.3195E-01
0.160E+02 0.7299E+00 -0.6726E-01 -0.3844E-01 0.1320E+00 -0.2848E+00
-0.3031E-01
164
0.180E+02 0.8406E+00 -0.7856E-01 -0.5191E-01 0.1225E+00 -0.2643E+00

-0.2785E-01
0.200E+02 0.9421E+00 -0.8859E-01 -0.5773E-01 0.1093E+00 -0.2357E+00
-0.2477E-01
0.250E+02 0.1132E+01 -0.1070E+00 -0.5933E-01 0.6329E-01 -0.1365E+00
-0.1522E-01
0.300E+02 0.1192E+01 -0.1142E+00 -0.7227E-01 -0.5965E-02 0.1286E-01
0.5753E-04
0.350E+02 0.1154E+01 -0.1116E+00 -0.7500E-01 -0.6543E-01 0.1411E+00
0.1318E-01
0.05 0.0 0.00 0.0 -35.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.5509E+00 0.5319E-01 0.4019E-01 0.1138E+00 -0.2455E+00
-0.2764E-01
0.000E+00 -0.2237E+00 0.2328E-01 0.2895E-01 0.1261E+00 -0.2721E+00
-0.2651E-01
0.200E+01 -0.9688E-01 0.1184E-01 0.2507E-01 0.1220E+00 -0.2632E+00
-0.2646E-01
0.400E+01 0.2944E-01 0.1780E-03 0.1798E-01 0.1166E+00 -0.2514E+00
-0.2682E-01
0.600E+01 0.1542E+00 -0.1163E-01 0.7684E-02 0.1164E+00 -0.2511E+00
-0.2723E-01
0.800E+01 0.2784E+00 -0.2375E-01 -0.6805E-02 0.1190E+00 -0.2566E+00
-0.2765E-01
0.100E+02 0.4050E+00 -0.3623E-01 -0.2174E-01 0.1215E+00 -0.2621E+00
-0.2810E-01
0.120E+02 0.5320E+00 -0.4848E-01 -0.3071E-01 0.1225E+00 -0.2642E+00
-0.2815E-01
0.140E+02 0.6531E+00 -0.5999E-01 -0.3494E-01 0.1193E+00 -0.2573E+00
-0.2712E-01
0.160E+02 0.7701E+00 -0.7136E-01 -0.4148E-01 0.1127E+00 -0.2431E+00
-0.2534E-01
0.180E+02 0.8806E+00 -0.8227E-01 -0.4909E-01 0.1023E+00 -0.2206E+00
-0.2297E-01
0.200E+02 0.9781E+00 -0.9149E-01 -0.4816E-01 0.8993E-01 -0.1940E+00
-0.2046E-01
0.250E+02 0.1159E+01 -0.1092E+00 -0.5214E-01 0.4843E-01 -0.1045E+00
-0.1170E-01
0.300E+02 0.1204E+01 -0.1146E+00 -0.6175E-01 -0.1397E-01 0.3012E-01
0.2196E-02
0.350E+02 0.1147E+01 -0.1100E+00 -0.6110E-01 -0.6016E-01 0.1297E+00
0.1245E-01
0.05 0.0 0.00 0.0 -25.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
165
-0.500E+01 -0.5158E+00 0.4891E-01 0.2578E-01 0.1042E+00 -0.2247E+00

-0.2323E-01
0.000E+00 -0.1875E+00 0.1952E-01 0.2432E-01 0.1073E+00 -0.2315E+00
-0.2228E-01
0.200E+01 -0.6153E-01 0.8209E-02 0.2127E-01 0.1008E+00 -0.2175E+00
-0.2239E-01
0.400E+01 0.6374E-01 -0.3318E-02 0.1480E-01 0.9714E-01 -0.2095E+00
-0.2272E-01
0.600E+01 0.1877E+00 -0.1506E-01 0.4312E-02 0.9826E-01 -0.2119E+00
-0.2311E-01
0.800E+01 0.3130E+00 -0.2731E-01 -0.1049E-01 0.1011E+00 -0.2180E+00
-0.2345E-01
0.100E+02 0.4412E+00 -0.3995E-01 -0.2543E-01 0.1035E+00 -0.2233E+00
-0.2375E-01
0.120E+02 0.5692E+00 -0.5231E-01 -0.3433E-01 0.1044E+00 -0.2251E+00
-0.2369E-01
0.140E+02 0.6912E+00 -0.6385E-01 -0.3761E-01 0.1004E+00 -0.2165E+00
-0.2249E-01
0.160E+02 0.8087E+00 -0.7503E-01 -0.4036E-01 0.9285E-01 -0.2003E+00
-0.2071E-01
0.180E+02 0.9168E+00 -0.8534E-01 -0.4196E-01 0.8292E-01 -0.1788E+00
-0.1870E-01
0.200E+02 0.1011E+01 -0.9399E-01 -0.3767E-01 0.7232E-01 -0.1560E+00
-0.1665E-01
0.250E+02 0.1182E+01 -0.1109E+00 -0.4377E-01 0.3600E-01 -0.7763E-01
-0.8698E-02
0.300E+02 0.1212E+01 -0.1147E+00 -0.5101E-01 -0.2002E-01 0.4317E-01
0.3837E-02
0.350E+02 0.1131E+01 -0.1075E+00 -0.4712E-01 -0.4986E-01 0.1075E+00
0.1056E-01
0.05 0.0 0.00 0.0 -15.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.4812E+00 0.4492E-01 0.1535E-01 0.9107E-01 -0.1964E+00
-0.1900E-01
0.000E+00 -0.1541E+00 0.1611E-01 0.2115E-01 0.8735E-01 -0.1884E+00
-0.1849E-01
0.200E+01 -0.2901E-01 0.4946E-02 0.1901E-01 0.8168E-01 -0.1762E+00
-0.1859E-01
0.400E+01 0.9512E-01 -0.6467E-02 0.1267E-01 0.7984E-01 -0.1722E+00
-0.1892E-01
0.600E+01 0.2192E+00 -0.1825E-01 0.1813E-02 0.8153E-01 -0.1759E+00
-0.1925E-01
0.800E+01 0.3460E+00 -0.3066E-01 -0.1325E-01 0.8380E-01 -0.1807E+00
-0.1948E-01
166
0.100E+02 0.4755E+00 -0.4343E-01 -0.2816E-01 0.8591E-01 -0.1853E+00

-0.1971E-01
0.120E+02 0.6044E+00 -0.5587E-01 -0.3694E-01 0.8628E-01 -0.1861E+00
-0.1957E-01
0.140E+02 0.7270E+00 -0.6735E-01 -0.3815E-01 0.8164E-01 -0.1761E+00
-0.1823E-01
0.160E+02 0.8440E+00 -0.7814E-01 -0.3537E-01 0.7409E-01 -0.1598E+00
-0.1657E-01
0.180E+02 0.9484E+00 -0.8774E-01 -0.3151E-01 0.6623E-01 -0.1428E+00
-0.1504E-01
0.200E+02 0.1040E+01 -0.9616E-01 -0.2748E-01 0.5695E-01 -0.1228E+00
-0.1314E-01
0.250E+02 0.1200E+01 -0.1122E+00 -0.3509E-01 0.2611E-01 -0.5631E-01
-0.6285E-02
0.300E+02 0.1216E+01 -0.1145E+00 -0.4046E-01 -0.2413E-01 0.5203E-01
0.4981E-02
0.350E+02 0.1111E+01 -0.1048E+00 -0.3429E-01 -0.3756E-01 0.8100E-01
0.8111E-02
0.05 0.0 0.00 0.0 -5.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3704E+00 0.3339E-01 0.1498E-02 0.3259E-01 -0.7029E-01
-0.6294E-02
0.000E+00 -0.5119E-01 0.5995E-02 0.1721E-01 0.2764E-01 -0.5963E-01
-0.6374E-02
0.200E+01 0.7051E-01 -0.4850E-02 0.1511E-01 0.2673E-01 -0.5766E-01
-0.6454E-02
0.400E+01 0.1950E+00 -0.1634E-01 0.8211E-02 0.2753E-01 -0.5938E-01
-0.6594E-02
0.600E+01 0.3232E+00 -0.2856E-01 -0.3026E-02 0.2833E-01 -0.6111E-01
-0.6623E-02
0.800E+01 0.4542E+00 -0.4140E-01 -0.1829E-01 0.2915E-01 -0.6287E-01
-0.6689E-02
0.100E+02 0.5870E+00 -0.5440E-01 -0.3132E-01 0.2978E-01 -0.6424E-01
-0.6732E-02
0.120E+02 0.7176E+00 -0.6643E-01 -0.3074E-01 0.2851E-01 -0.6150E-01
-0.6299E-02
0.140E+02 0.8366E+00 -0.7654E-01 -0.1559E-01 0.2541E-01 -0.5480E-01
-0.5502E-02
0.160E+02 0.9437E+00 -0.8565E-01 -0.1191E-02 0.2316E-01 -0.4995E-01
-0.5215E-02
0.180E+02 0.1039E+01 -0.9444E-01 0.1133E-02 0.1999E-01 -0.4310E-01
-0.4489E-02
0.200E+02 0.1119E+01 -0.1021E+00 -0.7539E-03 0.1610E-01 -0.3471E-01
-0.3617E-02
167
0.250E+02 0.1240E+01 -0.1140E+00 -0.3304E-02 0.5250E-02 -0.1132E-01

-0.1217E-02
0.300E+02 0.1196E+01 -0.1103E+00 -0.4511E-02 -0.1738E-01 0.3749E-01
0.3898E-02
0.350E+02 0.1057E+01 -0.9731E-01 0.4005E-03 -0.5968E-02 0.1287E-01
0.1344E-02
0.05 0.0 0.00 0.0 5.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.2589E+00 0.2275E-01 0.2657E-02 -0.3098E-01 0.6681E-01
0.6393E-02
0.000E+00 0.5119E-01 -0.3825E-02 0.1721E-01 -0.2764E-01 0.5962E-01
0.6374E-02
0.200E+01 0.1756E+00 -0.1497E-01 0.1467E-01 -0.2807E-01 0.6055E-01
0.6512E-02
0.400E+01 0.3046E+00 -0.2691E-01 0.7734E-02 -0.2873E-01 0.6197E-01
0.6551E-02
0.600E+01 0.4365E+00 -0.3949E-01 -0.3476E-02 -0.2944E-01 0.6351E-01
0.6590E-02
0.800E+01 0.5705E+00 -0.5231E-01 -0.1354E-01 -0.3005E-01 0.6481E-01
0.6654E-02
0.100E+02 0.7029E+00 -0.6428E-01 -0.1077E-01 -0.2903E-01 0.6262E-01
0.6283E-02
0.120E+02 0.8241E+00 -0.7432E-01 0.7337E-02 -0.2576E-01 0.5555E-01
0.5453E-02
0.140E+02 0.9328E+00 -0.8323E-01 0.2585E-01 -0.2349E-01 0.5067E-01
0.5152E-02
0.160E+02 0.1029E+01 -0.9185E-01 0.3180E-01 -0.2030E-01 0.4378E-01
0.4430E-02
0.180E+02 0.1110E+01 -0.9944E-01 0.3229E-01 -0.1644E-01 0.3545E-01
0.3565E-02
0.200E+02 0.1173E+01 -0.1053E+00 0.3299E-01 -0.1171E-01 0.2525E-01
0.2517E-02
0.250E+02 0.1248E+01 -0.1125E+00 0.3304E-01 0.1315E-02 -0.2835E-02
-0.3598E-03
0.300E+02 0.1124E+01 -0.1011E+00 0.2912E-01 0.1782E-01 -0.3843E-01
-0.4134E-02
0.350E+02 0.1041E+01 -0.9388E-01 0.3045E-01 0.1842E-02 -0.3971E-02
-0.4814E-03
0.05 0.0 0.00 0.0 15.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.1571E+00 0.1327E-01 0.7522E-02 -0.8750E-01 0.1887E+00
0.1862E-01
0.000E+00 0.1541E+00 -0.1345E-01 0.2117E-01 -0.8656E-01 0.1867E+00
0.1854E-01
168
0.200E+01 0.2821E+00 -0.2492E-01 0.1895E-01 -0.8660E-01 0.1868E+00

0.1887E-01
0.400E+01 0.4142E+00 -0.3701E-01 0.1456E-01 -0.8730E-01 0.1883E+00
0.1912E-01
0.600E+01 0.5477E+00 -0.4905E-01 0.1461E-01 -0.8766E-01 0.1891E+00
0.1920E-01
0.800E+01 0.6760E+00 -0.6023E-01 0.2210E-01 -0.8424E-01 0.1817E+00
0.1819E-01
0.100E+02 0.7982E+00 -0.7066E-01 0.3404E-01 -0.7724E-01 0.1666E+00
0.1637E-01
0.120E+02 0.9093E+00 -0.8007E-01 0.4673E-01 -0.6913E-01 0.1491E+00
0.1467E-01
0.140E+02 0.1006E+01 -0.8814E-01 0.5982E-01 -0.6024E-01 0.1299E+00
0.1288E-01
0.160E+02 0.1087E+01 -0.9524E-01 0.6632E-01 -0.4880E-01 0.1052E+00
0.1028E-01
0.180E+02 0.1151E+01 -0.1011E+00 0.6777E-01 -0.3593E-01 0.7749E-01
0.7397E-02
0.200E+02 0.1198E+01 -0.1054E+00 0.6887E-01 -0.2323E-01 0.5010E-01
0.4593E-02
0.250E+02 0.1195E+01 -0.1055E+00 0.6347E-01 0.3166E-01 -0.6827E-01
-0.7585E-02
0.300E+02 0.1086E+01 -0.9568E-01 0.5668E-01 0.3220E-01 -0.6944E-01
-0.7784E-02
0.350E+02 0.1042E+01 -0.9214E-01 0.5926E-01 -0.8058E-03 0.1738E-02
-0.2360E-03
0.05 0.0 0.00 0.0 25.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.1259E+00 0.1043E-01 0.1003E-01 -0.1056E+00 0.2277E+00
0.2238E-01
0.000E+00 0.1875E+00 -0.1646E-01 0.2426E-01 -0.1061E+00 0.2289E+00
0.2236E-01
0.200E+01 0.3165E+00 -0.2796E-01 0.2301E-01 -0.1049E+00 0.2264E+00
0.2283E-01
0.400E+01 0.4492E+00 -0.3988E-01 0.2235E-01 -0.1045E+00 0.2254E+00
0.2317E-01
0.600E+01 0.5807E+00 -0.5138E-01 0.2797E-01 -0.1030E+00 0.2221E+00
0.2292E-01
0.800E+01 0.7055E+00 -0.6209E-01 0.3776E-01 -0.9774E-01 0.2108E+00
0.2133E-01
0.100E+02 0.8249E+00 -0.7239E-01 0.4746E-01 -0.8978E-01 0.1937E+00
0.1924E-01
0.120E+02 0.9318E+00 -0.8149E-01 0.5877E-01 -0.8032E-01 0.1732E+00
0.1701E-01
169
0.140E+02 0.1023E+01 -0.8907E-01 0.7196E-01 -0.6891E-01 0.1486E+00

0.1456E-01
0.160E+02 0.1099E+01 -0.9567E-01 0.7794E-01 -0.5447E-01 0.1175E+00
0.1129E-01
0.180E+02 0.1158E+01 -0.1011E+00 0.7939E-01 -0.3917E-01 0.8449E-01
0.7869E-02
0.200E+02 0.1198E+01 -0.1048E+00 0.8006E-01 -0.2271E-01 0.4898E-01
0.4242E-02
0.250E+02 0.1173E+01 -0.1028E+00 0.7111E-01 0.4426E-01 -0.9546E-01
-0.1060E-01
0.300E+02 0.1080E+01 -0.9460E-01 0.6544E-01 0.3265E-01 -0.7041E-01
-0.8078E-02
0.350E+02 0.1044E+01 -0.9175E-01 0.6868E-01 -0.2933E-02 0.6326E-02
0.6406E-04
0.05 0.0 0.00 0.0 35.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.9218E-01 0.7397E-02 0.1334E-01 -0.1252E+00 0.2702E+00
0.2639E-01
0.000E+00 0.2237E+00 -0.1964E-01 0.2879E-01 -0.1248E+00 0.2693E+00
0.2659E-01
0.200E+01 0.3536E+00 -0.3111E-01 0.2949E-01 -0.1222E+00 0.2636E+00
0.2726E-01
0.400E+01 0.4861E+00 -0.4264E-01 0.3475E-01 -0.1206E+00 0.2602E+00
0.2750E-01
0.600E+01 0.6136E+00 -0.5343E-01 0.4559E-01 -0.1168E+00 0.2520E+00
0.2660E-01
0.800E+01 0.7356E+00 -0.6393E-01 0.5450E-01 -0.1104E+00 0.2382E+00
0.2467E-01
0.100E+02 0.8511E+00 -0.7410E-01 0.6034E-01 -0.1011E+00 0.2181E+00
0.2204E-01
0.120E+02 0.9531E+00 -0.8268E-01 0.7257E-01 -0.9025E-01 0.1947E+00
0.1916E-01
0.140E+02 0.1038E+01 -0.8971E-01 0.8531E-01 -0.7628E-01 0.1645E+00
0.1589E-01
0.160E+02 0.1108E+01 -0.9583E-01 0.9059E-01 -0.5899E-01 0.1272E+00
0.1198E-01
0.180E+02 0.1162E+01 -0.1007E+00 0.9176E-01 -0.4072E-01 0.8783E-01
0.7904E-02
0.200E+02 0.1191E+01 -0.1034E+00 0.9128E-01 -0.1823E-01 0.3932E-01
0.2966E-02
0.250E+02 0.1153E+01 -0.1004E+00 0.7892E-01 0.5535E-01 -0.1194E+00
-0.1329E-01
0.300E+02 0.1076E+01 -0.9358E-01 0.7498E-01 0.3206E-01 -0.6915E-01
-0.8191E-02
170
0.350E+02 0.1047E+01 -0.9137E-01 0.7901E-01 -0.5669E-02 0.1223E-01

0.4460E-03
0.05 0.0 0.00 0.0 45.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.5613E-01 0.4253E-02 0.1845E-01 -0.1459E+00 0.3147E+00
0.3068E-01
0.000E+00 0.2620E+00 -0.2291E-01 0.3518E-01 -0.1420E+00 0.3063E+00
0.3127E-01
0.200E+01 0.3925E+00 -0.3421E-01 0.3961E-01 -0.1382E+00 0.2980E+00
0.3199E-01
0.400E+01 0.5225E+00 -0.4512E-01 0.5088E-01 -0.1347E+00 0.2905E+00
0.3178E-01
0.600E+01 0.6461E+00 -0.5542E-01 0.6370E-01 -0.1293E+00 0.2788E+00
0.3022E-01
0.800E+01 0.7648E+00 -0.6579E-01 0.6964E-01 -0.1219E+00 0.2629E+00
0.2791E-01
0.100E+02 0.8758E+00 -0.7558E-01 0.7480E-01 -0.1112E+00 0.2398E+00
0.2459E-01
0.120E+02 0.9718E+00 -0.8355E-01 0.8745E-01 -0.9828E-01 0.2120E+00
0.2091E-01
0.140E+02 0.1051E+01 -0.9004E-01 0.9948E-01 -0.8198E-01 0.1768E+00
0.1681E-01
0.160E+02 0.1116E+01 -0.9570E-01 0.1039E+00 -0.6207E-01 0.1339E+00
0.1227E-01
0.180E+02 0.1161E+01 -0.9982E-01 0.1042E+00 -0.3894E-01 0.8397E-01
0.7142E-02
0.200E+02 0.1175E+01 -0.1012E+00 0.1015E+00 -0.8058E-02 0.1738E-01
0.3955E-03
0.250E+02 0.1139E+01 -0.9850E-01 0.8741E-01 0.6306E-01 -0.1360E+00
-0.1526E-01
0.300E+02 0.1073E+01 -0.9264E-01 0.8521E-01 0.3043E-01 -0.6563E-01
-0.8126E-02
0.350E+02 0.1050E+01 -0.9098E-01 0.9009E-01 -0.8845E-02 0.1907E-01
0.8644E-03
0.05 0.0 0.00 0.0 0.0 -25.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3140E+00 0.2832E-01 0.6961E-02 0.5399E-01 -0.1165E+00
0.3680E-02
0.000E+00 0.0000E+00 0.1600E-02 0.2538E-01 0.5550E-01 -0.1197E+00
0.3807E-02
0.200E+01 0.1222E+00 -0.9195E-02 0.2486E-01 0.5610E-01 -0.1210E+00
0.3835E-02
0.400E+01 0.2492E+00 -0.2084E-01 0.1938E-01 0.5554E-01 -0.1198E+00
0.3783E-02
171
0.600E+01 0.3793E+00 -0.3320E-01 0.9053E-02 0.5464E-01 -0.1179E+00

0.3707E-02
0.800E+01 0.5120E+00 -0.4611E-01 -0.4682E-02 0.5387E-01 -0.1162E+00
0.3643E-02
0.100E+02 0.6460E+00 -0.5883E-01 -0.1144E-01 0.5337E-01 -0.1151E+00
0.3599E-02
0.120E+02 0.7735E+00 -0.6994E-01 -0.7155E-03 0.5321E-01 -0.1148E+00
0.3581E-02
0.140E+02 0.8867E+00 -0.7915E-01 0.1976E-01 0.5338E-01 -0.1151E+00
0.3588E-02
0.160E+02 0.9892E+00 -0.8804E-01 0.3070E-01 0.5373E-01 -0.1159E+00
0.3609E-02
0.180E+02 0.1078E+01 -0.9648E-01 0.2926E-01 0.5421E-01 -0.1169E+00
0.3640E-02
0.200E+02 0.1150E+01 -0.1033E+00 0.2879E-01 0.5476E-01 -0.1181E+00
0.3677E-02
0.250E+02 0.1250E+01 -0.1131E+00 0.2703E-01 0.5608E-01 -0.1209E+00
0.3768E-02
0.300E+02 0.1161E+01 -0.1050E+00 0.2439E-01 0.5696E-01 -0.1228E+00
0.3831E-02
0.350E+02 0.1046E+01 -0.9462E-01 0.2579E-01 0.5711E-01 -0.1232E+00
0.3842E-02
0.05 0.0 0.00 0.0 0.0 -15.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3140E+00 0.2819E-01 0.4874E-02 0.4460E-01 -0.9621E-01
0.3033E-02
0.000E+00 0.0000E+00 0.1410E-02 0.2237E-01 0.4574E-01 -0.9867E-01
0.3149E-02
0.200E+01 0.1222E+00 -0.9432E-02 0.2110E-01 0.4658E-01 -0.1005E+00
0.3200E-02
0.400E+01 0.2492E+00 -0.2110E-01 0.1526E-01 0.4704E-01 -0.1015E+00
0.3218E-02
0.600E+01 0.3793E+00 -0.3347E-01 0.4752E-02 0.4708E-01 -0.1015E+00
0.3208E-02
0.800E+01 0.5120E+00 -0.4639E-01 -0.9045E-02 0.4690E-01 -0.1012E+00
0.3184E-02
0.100E+02 0.6460E+00 -0.5911E-01 -0.1580E-01 0.4671E-01 -0.1007E+00
0.3162E-02
0.120E+02 0.7735E+00 -0.7022E-01 -0.5075E-02 0.4665E-01 -0.1006E+00
0.3152E-02
0.140E+02 0.8867E+00 -0.7943E-01 0.1540E-01 0.4677E-01 -0.1009E+00
0.3157E-02
0.160E+02 0.9892E+00 -0.8832E-01 0.2634E-01 0.4697E-01 -0.1013E+00
0.3168E-02
172
0.180E+02 0.1078E+01 -0.9675E-01 0.2490E-01 0.4722E-01 -0.1018E+00

0.3184E-02
0.200E+02 0.1150E+01 -0.1036E+00 0.2444E-01 0.4745E-01 -0.1023E+00
0.3200E-02
0.250E+02 0.1250E+01 -0.1133E+00 0.2286E-01 0.4772E-01 -0.1029E+00
0.3221E-02
0.300E+02 0.1161E+01 -0.1052E+00 0.2050E-01 0.4754E-01 -0.1025E+00
0.3212E-02
0.350E+02 0.1046E+01 -0.9485E-01 0.2215E-01 0.4728E-01 -0.1020E+00
0.3196E-02
0.05 0.0 0.00 0.0 0.0 -5.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3140E+00 0.2798E-01 0.1562E-02 0.1569E-01 -0.3385E-01
0.1076E-02
0.000E+00 0.0000E+00 0.1092E-02 0.1733E-01 0.1513E-01 -0.3263E-01
0.1028E-02
0.200E+01 0.1222E+00 -0.9803E-02 0.1520E-01 0.1554E-01 -0.3353E-01
0.1066E-02
0.400E+01 0.2492E+00 -0.2153E-01 0.8452E-02 0.1581E-01 -0.3410E-01
0.1090E-02
0.600E+01 0.3793E+00 -0.3395E-01 -0.2792E-02 0.1598E-01 -0.3447E-01
0.1105E-02
0.800E+01 0.5120E+00 -0.4690E-01 -0.1711E-01 0.1609E-01 -0.3471E-01
0.1115E-02
0.100E+02 0.6460E+00 -0.5964E-01 -0.2422E-01 0.1617E-01 -0.3489E-01
0.1121E-02
0.120E+02 0.7735E+00 -0.7075E-01 -0.1363E-01 0.1622E-01 -0.3499E-01
0.1123E-02
0.140E+02 0.8867E+00 -0.7996E-01 0.6899E-02 0.1624E-01 -0.3502E-01
0.1122E-02
0.160E+02 0.9892E+00 -0.8884E-01 0.1800E-01 0.1624E-01 -0.3502E-01
0.1120E-02
0.180E+02 0.1078E+01 -0.9726E-01 0.1680E-01 0.1622E-01 -0.3498E-01
0.1116E-02
0.200E+02 0.1150E+01 -0.1041E+00 0.1663E-01 0.1619E-01 -0.3491E-01
0.1111E-02
0.250E+02 0.1250E+01 -0.1138E+00 0.1585E-01 0.1608E-01 -0.3467E-01
0.1095E-02
0.300E+02 0.1161E+01 -0.1056E+00 0.1432E-01 0.1590E-01 -0.3429E-01
0.1075E-02
0.350E+02 0.1046E+01 -0.9520E-01 0.1646E-01 0.1575E-01 -0.3396E-01
0.1060E-02
0.05 0.0 0.00 0.0 0.0 5.0 0.0 0.0 0.0
15.0 7.0 0.0
173
-0.500E+01 -0.3140E+00 0.2808E-01 0.3086E-02 -0.1623E-01 0.3501E-01

-0.1127E-02
0.000E+00 0.0000E+00 0.1092E-02 0.1733E-01 -0.1513E-01 0.3263E-01
-0.1028E-02
0.200E+01 0.1222E+00 -0.9833E-02 0.1473E-01 -0.1496E-01 0.3228E-01
-0.1012E-02
0.400E+01 0.2492E+00 -0.2158E-01 0.7636E-02 -0.1510E-01 0.3257E-01
-0.1023E-02
0.600E+01 0.3793E+00 -0.3401E-01 -0.3838E-02 -0.1530E-01 0.3300E-01
-0.1039E-02
0.800E+01 0.5120E+00 -0.4697E-01 -0.1831E-01 -0.1546E-01 0.3334E-01
-0.1052E-02
0.100E+02 0.6460E+00 -0.5972E-01 -0.2551E-01 -0.1557E-01 0.3358E-01
-0.1060E-02
0.120E+02 0.7735E+00 -0.7084E-01 -0.1496E-01 -0.1563E-01 0.3371E-01
-0.1063E-02
0.140E+02 0.8867E+00 -0.8004E-01 0.5579E-02 -0.1564E-01 0.3373E-01
-0.1062E-02
0.160E+02 0.9892E+00 -0.8892E-01 0.1672E-01 -0.1562E-01 0.3369E-01
-0.1058E-02
0.180E+02 0.1078E+01 -0.9734E-01 0.1559E-01 -0.1558E-01 0.3361E-01
-0.1053E-02
0.200E+02 0.1150E+01 -0.1042E+00 0.1551E-01 -0.1552E-01 0.3348E-01
-0.1046E-02
0.250E+02 0.1250E+01 -0.1138E+00 0.1496E-01 -0.1536E-01 0.3312E-01
-0.1028E-02
0.300E+02 0.1161E+01 -0.1057E+00 0.1373E-01 -0.1524E-01 0.3286E-01
-0.1014E-02
0.350E+02 0.1046E+01 -0.9523E-01 0.1608E-01 -0.1524E-01 0.3286E-01
-0.1013E-02
0.05 0.0 0.00 0.0 0.0 15.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3140E+00 0.2866E-01 0.1225E-01 -0.4572E-01 0.9862E-01
-0.3096E-02
0.000E+00 0.0000E+00 0.1410E-02 0.2237E-01 -0.4574E-01 0.9867E-01
-0.3149E-02
0.200E+01 0.1222E+00 -0.9555E-02 0.1914E-01 -0.4499E-01 0.9704E-01
-0.3084E-02
0.400E+01 0.2492E+00 -0.2133E-01 0.1167E-01 -0.4466E-01 0.9633E-01
-0.3046E-02
0.600E+01 0.3793E+00 -0.3377E-01 -0.6767E-04 -0.4459E-01 0.9618E-01
-0.3032E-02
0.800E+01 0.5120E+00 -0.4674E-01 -0.1470E-01 -0.4463E-01 0.9627E-01
-0.3029E-02
174
0.100E+02 0.6460E+00 -0.5950E-01 -0.2200E-01 -0.4470E-01 0.9642E-01

-0.3029E-02
0.120E+02 0.7735E+00 -0.7062E-01 -0.1149E-01 -0.4478E-01 0.9658E-01
-0.3030E-02
0.140E+02 0.8867E+00 -0.7982E-01 0.9069E-02 -0.4484E-01 0.9672E-01
-0.3030E-02
0.160E+02 0.9892E+00 -0.8870E-01 0.2025E-01 -0.4490E-01 0.9685E-01
-0.3030E-02
0.180E+02 0.1078E+01 -0.9711E-01 0.1919E-01 -0.4496E-01 0.9697E-01
-0.3031E-02
0.200E+02 0.1150E+01 -0.1039E+00 0.1919E-01 -0.4502E-01 0.9710E-01
-0.3032E-02
0.250E+02 0.1250E+01 -0.1136E+00 0.1892E-01 -0.4524E-01 0.9756E-01
-0.3044E-02
0.300E+02 0.1161E+01 -0.1054E+00 0.1802E-01 -0.4560E-01 0.9834E-01
-0.3072E-02
0.350E+02 0.1046E+01 -0.9494E-01 0.2059E-01 -0.4594E-01 0.9907E-01
-0.3101E-02
0.05 0.0 0.00 0.0 0.0 25.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3140E+00 0.2893E-01 0.1658E-01 -0.5176E-01 0.1116E+00
-0.3491E-02
0.000E+00 0.0000E+00 0.1600E-02 0.2538E-01 -0.5550E-01 0.1197E+00
-0.3807E-02
0.200E+01 0.1222E+00 -0.9394E-02 0.2170E-01 -0.5467E-01 0.1179E+00
-0.3750E-02
0.400E+01 0.2492E+00 -0.2118E-01 0.1401E-01 -0.5427E-01 0.1171E+00
-0.3719E-02
0.600E+01 0.3793E+00 -0.3363E-01 0.2193E-02 -0.5414E-01 0.1168E+00
-0.3697E-02
0.800E+01 0.5120E+00 -0.4660E-01 -0.1250E-01 -0.5414E-01 0.1168E+00
-0.3688E-02
0.100E+02 0.6460E+00 -0.5936E-01 -0.1983E-01 -0.5420E-01 0.1169E+00
-0.3684E-02
0.120E+02 0.7735E+00 -0.7048E-01 -0.9335E-02 -0.5427E-01 0.1171E+00
-0.3683E-02
0.140E+02 0.8867E+00 -0.7969E-01 0.1123E-01 -0.5436E-01 0.1172E+00
-0.3684E-02
0.160E+02 0.9892E+00 -0.8856E-01 0.2243E-01 -0.5444E-01 0.1174E+00
-0.3686E-02
0.180E+02 0.1078E+01 -0.9697E-01 0.2139E-01 -0.5453E-01 0.1176E+00
-0.3689E-02
0.200E+02 0.1150E+01 -0.1038E+00 0.2142E-01 -0.5464E-01 0.1178E+00
-0.3694E-02
175
0.250E+02 0.1250E+01 -0.1134E+00 0.2124E-01 -0.5496E-01 0.1185E+00

-0.3715E-02
0.300E+02 0.1161E+01 -0.1052E+00 0.2049E-01 -0.5542E-01 0.1195E+00
-0.3743E-02
0.350E+02 0.1046E+01 -0.9478E-01 0.2322E-01 -0.5582E-01 0.1204E+00
-0.3765E-02
0.05 0.0 0.00 0.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3140E+00 0.2893E-01 0.1658E-01 0.5176E-01 -0.1116E+00
0.3491E-02
0.000E+00 0.0000E+00 0.1600E-02 0.2538E-01 0.5550E-01 -0.1197E+00
0.3807E-02
0.200E+01 0.1222E+00 -0.9394E-02 0.2170E-01 0.5467E-01 -0.1179E+00
0.3750E-02
0.400E+01 0.2492E+00 -0.2118E-01 0.1401E-01 0.5427E-01 -0.1171E+00
0.3719E-02
0.600E+01 0.3793E+00 -0.3363E-01 0.2193E-02 0.5414E-01 -0.1168E+00
0.3697E-02
0.800E+01 0.5120E+00 -0.4660E-01 -0.1250E-01 0.5414E-01 -0.1168E+00
0.3688E-02
0.100E+02 0.6460E+00 -0.5936E-01 -0.1983E-01 0.5420E-01 -0.1169E+00
0.3684E-02
0.120E+02 0.7735E+00 -0.7048E-01 -0.9335E-02 0.5427E-01 -0.1171E+00
0.3683E-02
0.140E+02 0.8867E+00 -0.7969E-01 0.1123E-01 0.5436E-01 -0.1172E+00
0.3684E-02
0.160E+02 0.9892E+00 -0.8856E-01 0.2243E-01 0.5444E-01 -0.1174E+00
0.3686E-02
0.180E+02 0.1078E+01 -0.9697E-01 0.2139E-01 0.5453E-01 -0.1176E+00
0.3689E-02
0.200E+02 0.1150E+01 -0.1038E+00 0.2142E-01 0.5464E-01 -0.1178E+00
0.3694E-02
0.250E+02 0.1250E+01 -0.1134E+00 0.2124E-01 0.5496E-01 -0.1185E+00
0.3715E-02
0.300E+02 0.1161E+01 -0.1052E+00 0.2049E-01 0.5542E-01 -0.1195E+00
0.3743E-02
0.350E+02 0.1046E+01 -0.9478E-01 0.2322E-01 0.5582E-01 -0.1204E+00
0.3765E-02
0.05 0.0 0.00 0.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3140E+00 0.2866E-01 0.1225E-01 0.4572E-01 -0.9862E-01
0.3096E-02
0.000E+00 0.0000E+00 0.1410E-02 0.2237E-01 0.4574E-01 -0.9867E-01
0.3149E-02
176
0.200E+01 0.1222E+00 -0.9555E-02 0.1914E-01 0.4499E-01 -0.9704E-01

0.3084E-02
0.400E+01 0.2492E+00 -0.2133E-01 0.1167E-01 0.4466E-01 -0.9633E-01
0.3046E-02
0.600E+01 0.3793E+00 -0.3377E-01 -0.6767E-04 0.4459E-01 -0.9618E-01
0.3032E-02
0.800E+01 0.5120E+00 -0.4674E-01 -0.1470E-01 0.4463E-01 -0.9627E-01
0.3029E-02
0.100E+02 0.6460E+00 -0.5950E-01 -0.2200E-01 0.4470E-01 -0.9642E-01
0.3029E-02
0.120E+02 0.7735E+00 -0.7062E-01 -0.1149E-01 0.4478E-01 -0.9658E-01
0.3030E-02
0.140E+02 0.8867E+00 -0.7982E-01 0.9069E-02 0.4484E-01 -0.9672E-01
0.3030E-02
0.160E+02 0.9892E+00 -0.8870E-01 0.2025E-01 0.4490E-01 -0.9685E-01
0.3030E-02
0.180E+02 0.1078E+01 -0.9711E-01 0.1919E-01 0.4496E-01 -0.9697E-01
0.3031E-02
0.200E+02 0.1150E+01 -0.1039E+00 0.1919E-01 0.4502E-01 -0.9710E-01
0.3032E-02
0.250E+02 0.1250E+01 -0.1136E+00 0.1892E-01 0.4524E-01 -0.9756E-01
0.3044E-02
0.300E+02 0.1161E+01 -0.1054E+00 0.1802E-01 0.4560E-01 -0.9834E-01
0.3072E-02
0.350E+02 0.1046E+01 -0.9494E-01 0.2059E-01 0.4594E-01 -0.9907E-01
0.3101E-02
0.05 0.0 0.00 0.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3140E+00 0.2808E-01 0.3086E-02 0.1623E-01 -0.3501E-01
0.1127E-02
0.000E+00 0.0000E+00 0.1092E-02 0.1733E-01 0.1513E-01 -0.3263E-01
0.1028E-02
0.200E+01 0.1222E+00 -0.9833E-02 0.1473E-01 0.1496E-01 -0.3228E-01
0.1012E-02
0.400E+01 0.2492E+00 -0.2158E-01 0.7636E-02 0.1510E-01 -0.3257E-01
0.1023E-02
0.600E+01 0.3793E+00 -0.3401E-01 -0.3838E-02 0.1530E-01 -0.3300E-01
0.1039E-02
0.800E+01 0.5120E+00 -0.4697E-01 -0.1831E-01 0.1546E-01 -0.3334E-01
0.1052E-02
0.100E+02 0.6460E+00 -0.5972E-01 -0.2551E-01 0.1557E-01 -0.3358E-01
0.1060E-02
0.120E+02 0.7735E+00 -0.7084E-01 -0.1496E-01 0.1563E-01 -0.3371E-01
0.1063E-02
177
0.140E+02 0.8867E+00 -0.8004E-01 0.5579E-02 0.1564E-01 -0.3373E-01

0.1062E-02
0.160E+02 0.9892E+00 -0.8892E-01 0.1672E-01 0.1562E-01 -0.3369E-01
0.1058E-02
0.180E+02 0.1078E+01 -0.9734E-01 0.1559E-01 0.1558E-01 -0.3361E-01
0.1053E-02
0.200E+02 0.1150E+01 -0.1042E+00 0.1551E-01 0.1552E-01 -0.3348E-01
0.1046E-02
0.250E+02 0.1250E+01 -0.1138E+00 0.1496E-01 0.1536E-01 -0.3312E-01
0.1028E-02
0.300E+02 0.1161E+01 -0.1057E+00 0.1373E-01 0.1524E-01 -0.3286E-01
0.1014E-02
0.350E+02 0.1046E+01 -0.9523E-01 0.1608E-01 0.1524E-01 -0.3286E-01
0.1013E-02
0.05 0.0 0.00 0.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3140E+00 0.2798E-01 0.1562E-02 -0.1569E-01 0.3385E-01
-0.1076E-02
0.000E+00 0.0000E+00 0.1092E-02 0.1733E-01 -0.1513E-01 0.3263E-01
-0.1028E-02
0.200E+01 0.1222E+00 -0.9803E-02 0.1520E-01 -0.1554E-01 0.3353E-01
-0.1066E-02
0.400E+01 0.2492E+00 -0.2153E-01 0.8452E-02 -0.1581E-01 0.3410E-01
-0.1090E-02
0.600E+01 0.3793E+00 -0.3395E-01 -0.2792E-02 -0.1598E-01 0.3447E-01
-0.1105E-02
0.800E+01 0.5120E+00 -0.4690E-01 -0.1711E-01 -0.1609E-01 0.3471E-01
-0.1115E-02
0.100E+02 0.6460E+00 -0.5964E-01 -0.2422E-01 -0.1617E-01 0.3489E-01
-0.1121E-02
0.120E+02 0.7735E+00 -0.7075E-01 -0.1363E-01 -0.1622E-01 0.3499E-01
-0.1123E-02
0.140E+02 0.8867E+00 -0.7996E-01 0.6899E-02 -0.1624E-01 0.3502E-01
-0.1122E-02
0.160E+02 0.9892E+00 -0.8884E-01 0.1800E-01 -0.1624E-01 0.3502E-01
-0.1120E-02
0.180E+02 0.1078E+01 -0.9726E-01 0.1680E-01 -0.1622E-01 0.3498E-01
-0.1116E-02
0.200E+02 0.1150E+01 -0.1041E+00 0.1663E-01 -0.1619E-01 0.3491E-01
-0.1111E-02
0.250E+02 0.1250E+01 -0.1138E+00 0.1585E-01 -0.1608E-01 0.3467E-01
-0.1095E-02
0.300E+02 0.1161E+01 -0.1056E+00 0.1432E-01 -0.1590E-01 0.3429E-01
-0.1075E-02
178
0.350E+02 0.1046E+01 -0.9520E-01 0.1646E-01 -0.1575E-01 0.3396E-01

-0.1060E-02
0.05 0.0 0.00 0.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3140E+00 0.2819E-01 0.4874E-02 -0.4460E-01 0.9621E-01
-0.3033E-02
0.000E+00 0.0000E+00 0.1410E-02 0.2237E-01 -0.4574E-01 0.9867E-01
-0.3149E-02
0.200E+01 0.1222E+00 -0.9432E-02 0.2110E-01 -0.4658E-01 0.1005E+00
-0.3200E-02
0.400E+01 0.2492E+00 -0.2110E-01 0.1526E-01 -0.4704E-01 0.1015E+00
-0.3218E-02
0.600E+01 0.3793E+00 -0.3347E-01 0.4752E-02 -0.4708E-01 0.1015E+00
-0.3208E-02
0.800E+01 0.5120E+00 -0.4639E-01 -0.9045E-02 -0.4690E-01 0.1012E+00
-0.3184E-02
0.100E+02 0.6460E+00 -0.5911E-01 -0.1580E-01 -0.4671E-01 0.1007E+00
-0.3162E-02
0.120E+02 0.7735E+00 -0.7022E-01 -0.5075E-02 -0.4665E-01 0.1006E+00
-0.3152E-02
0.140E+02 0.8867E+00 -0.7943E-01 0.1540E-01 -0.4677E-01 0.1009E+00
-0.3157E-02
0.160E+02 0.9892E+00 -0.8832E-01 0.2634E-01 -0.4697E-01 0.1013E+00
-0.3168E-02
0.180E+02 0.1078E+01 -0.9675E-01 0.2490E-01 -0.4722E-01 0.1018E+00
-0.3184E-02
0.200E+02 0.1150E+01 -0.1036E+00 0.2444E-01 -0.4745E-01 0.1023E+00
-0.3200E-02
0.250E+02 0.1250E+01 -0.1133E+00 0.2286E-01 -0.4772E-01 0.1029E+00
-0.3221E-02
0.300E+02 0.1161E+01 -0.1052E+00 0.2050E-01 -0.4754E-01 0.1025E+00
-0.3212E-02
0.350E+02 0.1046E+01 -0.9485E-01 0.2215E-01 -0.4728E-01 0.1020E+00
-0.3196E-02
0.05 0.0 0.00 0.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3140E+00 0.2832E-01 0.6961E-02 -0.5399E-01 0.1165E+00
-0.3680E-02
0.000E+00 0.0000E+00 0.1600E-02 0.2538E-01 -0.5550E-01 0.1197E+00
-0.3807E-02
0.200E+01 0.1222E+00 -0.9195E-02 0.2486E-01 -0.5610E-01 0.1210E+00
-0.3835E-02
0.400E+01 0.2492E+00 -0.2084E-01 0.1938E-01 -0.5554E-01 0.1198E+00
-0.3783E-02
179
0.600E+01 0.3793E+00 -0.3320E-01 0.9053E-02 -0.5464E-01 0.1179E+00

-0.3707E-02
0.800E+01 0.5120E+00 -0.4611E-01 -0.4682E-02 -0.5387E-01 0.1162E+00
-0.3643E-02
0.100E+02 0.6460E+00 -0.5883E-01 -0.1144E-01 -0.5337E-01 0.1151E+00
-0.3599E-02
0.120E+02 0.7735E+00 -0.6994E-01 -0.7155E-03 -0.5321E-01 0.1148E+00
-0.3581E-02
0.140E+02 0.8867E+00 -0.7915E-01 0.1976E-01 -0.5338E-01 0.1151E+00
-0.3588E-02
0.160E+02 0.9892E+00 -0.8804E-01 0.3070E-01 -0.5373E-01 0.1159E+00
-0.3609E-02
0.180E+02 0.1078E+01 -0.9648E-01 0.2926E-01 -0.5421E-01 0.1169E+00
-0.3640E-02
0.200E+02 0.1150E+01 -0.1033E+00 0.2879E-01 -0.5476E-01 0.1181E+00
-0.3677E-02
0.250E+02 0.1250E+01 -0.1131E+00 0.2703E-01 -0.5608E-01 0.1209E+00
-0.3768E-02
0.300E+02 0.1161E+01 -0.1050E+00 0.2439E-01 -0.5696E-01 0.1228E+00
-0.3831E-02
0.350E+02 0.1046E+01 -0.9462E-01 0.2579E-01 -0.5711E-01 0.1232E+00
-0.3842E-02
0.05 0.0 -20.00 0.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.2989E+00 0.2024E+00 0.2775E+01 0.2243E+00 -0.4249E+00
0.9436E-02
0.000E+00 -0.6004E-07 0.3013E+00 0.4781E+01 0.2208E+00 -0.4178E+00
0.1311E-01
0.200E+01 0.1161E+00 0.2191E+00 0.3645E+01 0.2192E+00 -0.4143E+00
0.1451E-01
0.400E+01 0.2369E+00 0.1677E+00 0.3007E+01 0.2176E+00 -0.4107E+00
0.1598E-01
0.600E+01 0.3616E+00 0.1305E+00 0.2599E+01 0.2143E+00 -0.4031E+00
0.1733E-01
0.800E+01 0.4912E+00 0.9761E-01 0.2268E+01 0.2113E+00 -0.3962E+00
0.1849E-01
0.100E+02 0.6240E+00 0.4780E-01 0.1675E+01 0.2077E+00 -0.3878E+00
0.1930E-01
0.120E+02 0.7528E+00 -0.1500E-01 0.8697E+00 0.2041E+00 -0.3796E+00
0.1937E-01
0.140E+02 0.8723E+00 -0.6805E-01 0.2060E+00 0.2010E+00 -0.3722E+00
0.1876E-01
0.160E+02 0.9769E+00 -0.9653E-01 -0.8973E-01 0.1959E+00 -0.3605E+00
0.1855E-01
180
0.180E+02 0.1068E+01 -0.1107E+00 -0.1776E+00 0.1907E+00 -0.3486E+00

0.1763E-01
0.200E+02 0.1143E+01 -0.1213E+00 -0.2334E+00 0.1858E+00 -0.3375E+00
0.1613E-01
0.250E+02 0.1246E+01 -0.1418E+00 -0.4033E+00 0.1732E+00 -0.3089E+00
0.1115E-01
0.300E+02 0.1168E+01 -0.1331E+00 -0.3826E+00 0.1754E+00 -0.3130E+00
0.1121E-02
0.350E+02 0.1051E+01 -0.1658E+00 -0.1072E+01 0.1141E+00 -0.1810E+00
0.3807E-02
0.05 0.0 -10.00 0.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3080E+00 0.5418E-01 0.4201E+00 0.1199E+00 -0.2350E+00
0.5684E-02
0.000E+00 -0.2454E-07 0.2696E-01 0.4277E+00 0.1260E+00 -0.2489E+00
0.7946E-02
0.200E+01 0.1194E+00 0.1448E-01 0.3994E+00 0.1306E+00 -0.2587E+00
0.9009E-02
0.400E+01 0.2438E+00 0.2381E-02 0.3852E+00 0.1445E+00 -0.2883E+00
0.1070E-01
0.600E+01 0.3729E+00 -0.8274E-02 0.4019E+00 0.1433E+00 -0.2853E+00
0.1118E-01
0.800E+01 0.5049E+00 -0.1914E-01 0.4208E+00 0.1385E+00 -0.2742E+00
0.1146E-01
0.100E+02 0.6387E+00 -0.3394E-01 0.3815E+00 0.1307E+00 -0.2565E+00
0.1147E-01
0.120E+02 0.7670E+00 -0.5281E-01 0.2707E+00 0.1221E+00 -0.2373E+00
0.1099E-01
0.140E+02 0.8812E+00 -0.7007E-01 0.1653E+00 0.1122E+00 -0.2151E+00
0.1035E-01
0.160E+02 0.9846E+00 -0.8211E-01 0.1277E+00 0.1017E+00 -0.1917E+00
0.9685E-02
0.180E+02 0.1074E+01 -0.9010E-01 0.1347E+00 0.9138E-01 -0.1687E+00
0.8680E-02
0.200E+02 0.1147E+01 -0.9686E-01 0.1373E+00 0.8176E-01 -0.1473E+00
0.7398E-02
0.250E+02 0.1249E+01 -0.1067E+00 0.1349E+00 0.5844E-01 -0.9555E-01
0.3662E-02
0.300E+02 0.1163E+01 -0.9876E-01 0.1343E+00 0.4341E-01 -0.6225E-01
-0.2498E-02
0.350E+02 0.1047E+01 -0.8826E-01 0.1348E+00 -0.2885E-02 0.3786E-01
-0.1993E-02
0.05 0.0 10.00 0.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
181
-0.500E+01 -0.3080E+00 0.5370E-01 0.4126E+00 -0.9783E-01 0.1874E+00

-0.4158E-02
0.000E+00 0.4239E-07 0.2696E-01 0.4277E+00 -0.1260E+00 0.2489E+00
-0.7946E-02
0.200E+01 0.1194E+00 0.1448E-01 0.3994E+00 -0.1306E+00 0.2587E+00
-0.9009E-02
0.400E+01 0.2438E+00 0.2381E-02 0.3852E+00 -0.1445E+00 0.2883E+00
-0.1070E-01
0.600E+01 0.3729E+00 -0.8274E-02 0.4019E+00 -0.1433E+00 0.2853E+00
-0.1118E-01
0.800E+01 0.5049E+00 -0.1914E-01 0.4208E+00 -0.1385E+00 0.2742E+00
-0.1146E-01
0.100E+02 0.6387E+00 -0.3394E-01 0.3815E+00 -0.1307E+00 0.2565E+00
-0.1147E-01
0.120E+02 0.7670E+00 -0.5281E-01 0.2707E+00 -0.1221E+00 0.2373E+00
-0.1099E-01
0.140E+02 0.8812E+00 -0.7007E-01 0.1653E+00 -0.1122E+00 0.2151E+00
-0.1035E-01
0.160E+02 0.9846E+00 -0.8211E-01 0.1277E+00 -0.1017E+00 0.1917E+00
-0.9685E-02
0.180E+02 0.1074E+01 -0.9010E-01 0.1347E+00 -0.9138E-01 0.1687E+00
-0.8680E-02
0.200E+02 0.1147E+01 -0.9686E-01 0.1373E+00 -0.8176E-01 0.1473E+00
-0.7398E-02
0.250E+02 0.1249E+01 -0.1067E+00 0.1349E+00 -0.5844E-01 0.9555E-01
-0.3662E-02
0.300E+02 0.1163E+01 -0.9876E-01 0.1343E+00 -0.4341E-01 0.6225E-01
0.2498E-02
0.350E+02 0.1047E+01 -0.8826E-01 0.1348E+00 0.2885E-02 -0.3786E-01
0.1993E-02
0.05 0.0 20.00 0.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.2989E+00 0.2025E+00 0.2777E+01 -0.2218E+00 0.4196E+00
-0.9284E-02
0.000E+00 0.9035E-07 0.3013E+00 0.4781E+01 -0.2208E+00 0.4178E+00
-0.1311E-01
0.200E+01 0.1161E+00 0.2191E+00 0.3645E+01 -0.2192E+00 0.4143E+00
-0.1451E-01
0.400E+01 0.2369E+00 0.1677E+00 0.3007E+01 -0.2176E+00 0.4107E+00
-0.1598E-01
0.600E+01 0.3616E+00 0.1305E+00 0.2599E+01 -0.2143E+00 0.4031E+00
-0.1733E-01
0.800E+01 0.4912E+00 0.9761E-01 0.2268E+01 -0.2113E+00 0.3962E+00
-0.1849E-01
182
0.100E+02 0.6240E+00 0.4780E-01 0.1675E+01 -0.2077E+00 0.3878E+00

-0.1930E-01
0.120E+02 0.7528E+00 -0.1500E-01 0.8697E+00 -0.2041E+00 0.3796E+00
-0.1937E-01
0.140E+02 0.8723E+00 -0.6805E-01 0.2060E+00 -0.2010E+00 0.3722E+00
-0.1876E-01
0.160E+02 0.9769E+00 -0.9653E-01 -0.8973E-01 -0.1959E+00 0.3605E+00
-0.1855E-01
0.180E+02 0.1068E+01 -0.1107E+00 -0.1776E+00 -0.1907E+00 0.3486E+00
-0.1763E-01
0.200E+02 0.1143E+01 -0.1213E+00 -0.2334E+00 -0.1858E+00 0.3375E+00
-0.1613E-01
0.250E+02 0.1246E+01 -0.1418E+00 -0.4033E+00 -0.1732E+00 0.3089E+00
-0.1115E-01
0.300E+02 0.1168E+01 -0.1331E+00 -0.3826E+00 -0.1754E+00 0.3130E+00
-0.1121E-02
0.350E+02 0.1051E+01 -0.1658E+00 -0.1072E+01 -0.1141E+00 0.1810E+00
-0.3807E-02
0.05 328.0 0.00 0.0 0.0 0.0 0.0 0.0 0.0
15.0 7.0 0.0
-0.500E+01 -0.3140E+00 0.2799E-01 0.1728E-02 0.7704E-08 0.4366E-08
-0.9096E-10
0.000E+00 0.0000E+00 0.1055E-02 0.1674E-01 0.0000E+00 0.0000E+00
0.0000E+00
0.200E+01 0.1222E+00 -0.9855E-02 0.1438E-01 -0.2767E-08 -0.2208E-08
0.5058E-10
0.400E+01 0.2492E+00 -0.2160E-01 0.7454E-02 -0.8889E-08 0.2516E-08
-0.1054E-09
0.600E+01 0.3793E+00 -0.3402E-01 -0.3889E-02 -0.7599E-08 -0.8943E-08
0.3458E-09
0.800E+01 0.5120E+00 -0.4697E-01 -0.1825E-01 -0.2033E-07 0.9691E-08
-0.3499E-09
0.100E+02 0.6460E+00 -0.5971E-01 -0.2538E-01 -0.3312E-07 0.2838E-07
-0.7916E-09
0.120E+02 0.7735E+00 -0.7083E-01 -0.1484E-01 -0.2848E-07 0.9935E-08
-0.3882E-09
0.140E+02 0.8867E+00 -0.8004E-01 0.5642E-02 -0.4062E-07 0.2866E-07
-0.9540E-09
0.160E+02 0.9892E+00 -0.8892E-01 0.1673E-01 -0.2650E-07 -0.8508E-08
0.1298E-09
0.180E+02 0.1078E+01 -0.9734E-01 0.1557E-01 -0.3353E-07 0.8890E-09
-0.1576E-09
0.200E+02 0.1150E+01 -0.1042E+00 0.1544E-01 -0.2487E-07 -0.2242E-07
0.6461E-09
183
0.250E+02 0.1250E+01 -0.1139E+00 0.1479E-01 -0.2552E-07 -0.2709E-07

0.6431E-09
0.300E+02 0.1161E+01 -0.1057E+00 0.1342E-01 -0.1689E-07 -0.3895E-07
0.1129E-08
0.350E+02 0.1046E+01 -0.9525E-01 0.1568E-01 -0.3030E-07 -0.1511E-08
-0.7884E-10
184
Appendix B.1: Equations of Motion s-function

function [sys,x0,str,ts] = EOM(t,x,u,flag,J_inertial,mass,g,x0)
%
%Parameters
% J(1) = Jxx;
% J(2) = Jyy;
% J(3) = Jzz;
% J(4) = Jxz;
% mass = ; %slugs or kg
% g = ; gravity
%States
% Xe(N) = x0(1);
% Ye(E) = x0(2);
% Ze(D) = x0(3);
% Phi = x0(4);
% Theta = x0(5);
% Psi = x0(6);
% U = x0(7);
% V = x0(8);
% W = x0(9);
% P = x0(10);
% Q = x0(11);
% R = x0(12);
%#define GD=32.17; % ft/s
%
% The following outlines the general structure of an S-function.
%
switch flag,
%%%%%%%%%%%%%%%%%%
% Initialization %
%%%%%%%%%%%%%%%%%%
case 0,
%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
% Note that in this example, the values are hard coded. This is not a
% recommended practice as the characteristics of the block are typically
% defined by the S-function parameters.
%
185
sizes = simsizes;
sizes.NumContStates = 12;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 12;
sizes.NumInputs = 6;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 1; % at least one sample time is needed
sys = simsizes(sizes);
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts = [0 0];
%
% initialize the initial conditions
%
Xe = x0(1); %units of linear distance
Ye = x0(2); %units of linear distance
Ze = x0(3); %units of linear distance
Phi = x0(4); %radians
Theta = x0(5); %radians
Psi = x0(6); %radians
U = x0(7); %units of linear distance per second
V = x0(8); %units of linear distance per second
W = x0(9); %units of linear distance per second
P = x0(10); %units of radians per second
Q = x0(11); %units of radians per second
R = x0(12); %units of radians per second
nav_dot=[0 0 0]';
euler_dot=[0 0 0]';
vel_dot=[0 0 0]';
omega_dot=[0 0 0]';
% end mdlInitializeSizes
186
%%%%%%%%%%%%%%%
% Derivatives %
%%%%%%%%%%%%%%%
case 1,
%Inputs
Fx = u(1);
Fy = u(2);
Fz = u(3);
l = u(4);
m = u(5);
n = u(6);
%states
Xe = x(1); %units of linear distance
Ye = x(2); %units of linear distance
Ze = x(3); %units of linear distance
Phi = x(4); %radians
Theta = x(5); %radians
Psi = x(6); %radians
U = x(7); %units of linear distance per second
V = x(8); %units of linear distance per second
W = x(9); %units of linear distance per second
P = x(10); %units of radians per second
Q = x(11); %units of radians per second
R = x(12); %units of radians per second
v_cm_e = [U V W]'; %Velocity components
Force = [Fx Fy Fz]'; %Foce Input
Moment = [l m n]'; %Moment Input
omega = [P Q R]'; %Body Rates
%Inertial Matrix -
%From Stevens and Lewis pg.45 equation 1.5-7
Jxx = J_inertial(1);
Jyy = J_inertial(2);
Jzz = J_inertial(3);
Jxz = J_inertial(4);
%Inertial Matrix
J = [ Jxx 0 -Jxz;...
0 Jyy 0; ...
-Jxz 0 Jzz];
%Direction Cosine Matrix - Navigation Frame with respect to Body Frame

187
%From Stevens and Lewis pg.26 equation 1.3-20

% Direction Cosine Matrix from navigation frame to body frame
DCM_b_n = [ cos(Theta)*cos(Psi) cos(Theta)*sin(Psi)
-sin(Theta);...
(-cos(Phi)*sin(Psi)+sin(Phi)*sin(Theta)*cos(Psi)) (cos(Phi)*cos(Psi) +
sin(Phi)*sin(Theta)*sin(Psi)) sin(Phi)*cos(Theta);...
(sin(Phi)*sin(Psi)+cos(Phi)*sin(Theta)*cos(Psi)) (-sin(Phi)*cos(Psi) +
cos(Phi)*sin(Theta)*sin(Psi)) cos(Phi)*cos(Theta)];
% Cx=[1 0 0; 0 cos(Phi) -sin(Phi); 0 sin(Phi) cos(Phi)]; %roll

% Cy=[cos(Theta) 0 sin(Theta); 0 1 0; -sin(Theta) 0 cos(Theta)]; %pitch
% Cz=[cos(Psi) -sin(Psi) 0;sin(Psi) cos(Psi) 0; 0 0 1]; %yaw
%
%
% DCM_b_n=Cz*Cy*Cx; %yaw,pitch,roll
% Direction Cosine Matrix from body frame to navigation frame

DCM_n_b = inv(DCM_b_n);
%Specific Force Equ - Translational Velocity (Body Frame)

%From Stevens and Lewis pg.52 equation 1.5-22d
vel_dot = (1/mass)*Force - (cross(omega,v_cm_e)) + (DCM_b_n*[0; 0; g]);
%From Stevens and Lewis pg.27 equation 1.3-22a

h_dot = [1 tan(Theta)*sin(Phi) tan(Theta)*cos(Phi);...
0 cos(Phi) -sin(Phi);...
0 (sin(Phi)/cos(Theta)) cos(Phi)/cos(Theta)];
%Kinematic Equ - Euler Angle Rates (Body Frame)

%From Stevens and Lewis pg.52 equation 1.5-22c
euler_dot = h_dot * omega;
%Moment Equ - Angular Acceleration (Body Frame)

%From Stevens and Lewis pg.52 equation 1.5-22e
%omega_dot = J\ (Moment - cross(omega,J*omega));
omega_dot = inv(J)*(Moment - cross(omega,J*omega));
%Navigation Euqations - Inertial Velocity (Navigation Frame)
%From Stevens and Lewis pg.52 equation 1.5-22b
nav_dot = DCM_n_b * v_cm_e;
%Form the state rate vector

188
%--------------------------------------------------------------
%sys = [Udot;Vdot,Wdot;Phidot;Thetadot;Psidot;Pdot;Qdot;Rdot;Xedot;Yedot;Hdot];
sys = [nav_dot;euler_dot;vel_dot;omega_dot];
%--------------------------------------------------------------------------
%-----------
% end mdlDerivatives
%%%%%%%%%%%
% Outputs %
%%%%%%%%%%%
case 3,
sys = x;
%%%%%%%%%%%%%
% Terminate %
%%%%%%%%%%%%%
case {2, 4, 9},
% sys=mdlTerminate(t,x,u);
sys=[]; %do nothing
%%%%%%%%%%%%%%%%%%%%
% Unexpected flags %
%%%%%%%%%%%%%%%%%%%%
otherwise
error(['Unhandled flag = ',num2str(flag)]);
end
189
Appendix B.2: forces_moments.m

function [ output_args ] = forces_moments( input_args )
x_e = input_args(1);
y_e = input_args(2);
z_e = input_args(3);
phi = input_args(4);
theta = input_args(5);
psi = input_args(6);
u = input_args(7);
v = input_args(8);
w = input_args(9);
p = input_args(10);
q = input_args(11);
r = input_args(12);
% delta_right_ail = input_args(13);
% delta_left_ail = input_args(14);
% delta_rud = input_args(15);
% thrust = input_args(16);
delta_ail = input_args(13);
delta_elv = input_args(14);
delta_rud = input_args(15);
thrust = input_args(16);
delta_right_ail = delta_elv - delta_ail;

delta_left_ail = delta_elv + delta_ail;
if delta_right_ail < -45

delta_right_ail = -45;
else if delta_right_ail > 45
delta_right_ail = 45;
end
end
if delta_left_ail < -45

delta_left_ail = -45;
else if delta_left_ail > 45
delta_left_ail = 45;
190
end
end
if delta_rud < -25

delta_rud = -25;
else if delta_rud > 25
delta_rud = 25;
end
end
% if thrust < 0
% thrust = 0;
% else if thrust > 25*4.448222 %4.448222 lbf = newtons
% thrust = 25*4.448222; %4.448222 lbf = newtons
% end
% end
%delta_rud=0;
% delta_ail = input_args(13);
% delta_ele = input_args(14);
% delta_rud = input_args(15);
% delta_thrust= input_args(16);
%************************************
Vt = sqrt(u^2+v^2+w^2);
if u~=0
alpha = atan2(w,u);
beta = asin(v/Vt);
else
alpha = pi/2;
beta = 0;
end
tableID=1;
%create thrust force vector
F_thrust_b = [thrust 0 0]';
%altitude = -
H = -z_e;
deltadeg = [delta_right_ail,delta_left_ail,delta_rud,delta_rud,0,0];
omega = [p q r]';
rho = 1.229; %kg/m^3 1.229
bref = 2.3240; %m
Sref = 1.2517; %m^2
191
cbar = .6347; %m
%this has been changed because the for005 file is setup in VINF m/s
sos = 340.29;% 340.29 m/s at sea level
alphadeg = alpha*180/pi;
betadeg = beta*180/pi;
%aerodynamic forces
[tau, f] = datcomderive(alphadeg, betadeg, H, deltadeg, Vt, omega,
tableID,bref,cbar,Sref,sos,rho);
F = f + F_thrust_b;
T = tau;
output_args = [F(1) F(2) F(3) T(1) T(2) T(3)];
return
192
Appendix B.3: datcomderive.m
%calculate the Forces and Moments
function [tau, f] = datcomderive(alphadeg, betadeg, H, deltadeg, Vt, omega,

tableID,bref,cbar,Sref,sos,rho)
% mach number
mach = Vt / sos;
% dynamic pressure
qbar = 0.5 * rho * Vt^2;
% Scale dynamic derivatives

lat_scale = 0.5 * (bref) / Vt;
long_scale = 0.5 * (cbar) / Vt;
omega_scale = omega.* [lat_scale; long_scale; lat_scale];
% Call DATCOMTableMex
IndVariables = [alphadeg, mach, H, betadeg, deltadeg]; % Vector for input into Action
2
[DepDeltaIncrements, Derivatives_Stab, DepBaseIncrements] =
DATCOMTableMex(2,tableID,IndVariables);
% calculate coefficients
% alpha and mach effects for nominal
C_norm = DepBaseIncrements; %components: [N, M, A, Y, ln, ll]
% Scaling the Stability derivative coefficients
C_scale = Derivatives_Stab .* omega_scale([2 2 2 3 3 3 1 1 1])'; %component: [CNQ,
CMQ, CAQ, CYR, ClnR, CllR, CYP, ClnP, CllP]
% Form base contributions to moments and forces
C_BAE = C_norm + C_scale(1:6) + [zeros(1,3), C_scale(7:9)]; %components: [N, M,
A, Y, ln, ll]
% delta contributions to moments and forces
C_delta = DepDeltaIncrements; %components: [N, M, A, Y, ln, ll]
% % output moments and forces
%MFoutput = qbar * (Sref) * [p.bref; p.cbar; p.bref; -1; 1; -1] .* (C_BAE([6 2 5 3 4 1])' +
C_delta([6 2 5 3 4 1])'); %components: [L, M, N, X, Y, Z]
tau = qbar * (Sref) * [bref; cbar; bref] .* (C_BAE([6 2 5])' + C_delta([6 2 5])');
%components: [L, M, N]
f = qbar * (Sref) * [-1; 1; -1] .* (C_BAE([3 4 1])' + C_delta([3 4 1])'); %components:
[X, Y, Z]
TAD Digitally signed by TAD

Services
Servi
DN: cn=TAD Services,
o=Ohio University,
ou=Graduate Studies,
email=etd@ohio.edu,
c=US
ces
Date: 2009.03.19 10:15:48
-04'00'

Ohiou1237481460 PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Ohiou1237481460 PDF

Uploaded by

Copyright:

Available Formats

AERODYNAMIC MODELING OF AN UNMANNED AERIAL VEHICLE USING A

COMPUTATIONAL FLUID DYNAMICS PREDICTION CODE

the Russ College of Engineering and Technology of Ohio University

2009 Isaac D. Rose. All Rights Reserved.

AERODYNAMIC MODELING OF AN UNMANNED AERIAL VEHICLE USING A

COMPUTATIONAL FLUID DYNAMICS PREDICTION CODE

has been approved for

the School of Electrical Engineering and Computer Science

and the Russ College of Engineering and Technology by

Professor of Electrical Engineering and Computer Science

Dean, Russ College of Engineering and Technology

ROSE, ISAAC D., M.S., March 2009, Electrical Engineering

AERODYNAMIC MODELING OF AN UNMANNED AERIAL VEHICLE USING A

COMPUTATIONAL FLUID DYNAMICS PREDICTION CODE (192 pp.)

Director of Thesis: Douglas A. Lawrence

The process of creating a six degree-of-freedom model for an aerospace

vehicle requires detailed knowledge of the aerodynamic characteristics. This thesis

presents an implementation of a Computational Fluid Dynamics (CFD) prediction

moment coefficients. These values are verified by creating a Matlab/Simulink six

Professor of Electrical Engineering and Computer Science

1.2 Motivation ..........................................................................................................20

1.3 Modeling Aerodynamic Forces and Moments....................................................21

1.5 Thesis Organization.............................................................................................22

1.5.1 Missile DATCOM Input Parameters...........................................................22

1.5.2 Missile DATCOM Model of the Brumby UAV..........................................23

1.5.3 Equations of Motion....................................................................................23

1.5.4 Brumby UAV Model Simulation................................................................23

Chapter 2: Missile DATCOM Modeling Parameters Overview....................................24

2.1 Flight Conditions..................................................................................................26

2.3 Primary Lifting Surface ......................................................................................29

2.4 Horizontal Stabilizer...........................................................................................33

2.5 Vertical Stabilizer................................................................................................35

2.6 Control Surfaces..................................................................................................36

2.8 File Format and Content......................................................................................39

2.9 Missile DATCOM Example...............................................................................41

3.1 Flight Conditions.................................................................................................72

3.3 Wing Planform....................................................................................................76

3.4 Vertical Stabilizer................................................................................................77

3.5 Control Surfaces .................................................................................................80

Chapter 4: Equations of Motion and Rigid Body Modeling .........................................86

4.1 Equations of Motion for A Rigid Body ..............................................................86

4.2 Aerodynamic Coefficients..................................................................................91

4.3 Six Degree-of-Freedom Aircraft Model............................................................101

5.1 Simulink Nonlinear Aircraft Model..................................................................103

5.2 Trimmed Aircraft Flight....................................................................................107

5.3 Linearized Aircraft Model.................................................................................108

5.4 Nonlinear Simulation Results...........................................................................112

5.4 Control Surface Doublet Simulation Results....................................................123

Chapter 6: Conclusions and Future Work....................................................................138

Appendix A.1: for005.dat File.........................................................................................141

Appendix A.3 : for003.dat File........................................................................................154

Appendix A.4 : for021.dat File........................................................................................155

Appendix B.1: Equations of Motion s-function...............................................................184

Appendix B.2: forces_moments.m..................................................................................189

Appendix B.3: datcomderive.m.......................................................................................192

Table 2.1: Missile DATCOM Control Cards.....................................................................26

Table 2.2: Missile DATCOM Namelist FLTCON ..........................................................27

Table 2.3: Missile DATCOM Namelist REFQ..................................................................28

Table 2.4: Missile DATCOM Namelist AXIBOD............................................................29

Table 2.5: Missile DATCOM Namelist FINSET..............................................................30

Table 2.6: Missile DATCOM Namelist DEFLCT.............................................................38

Table 2.7: Missile DATCOM File Definitions..................................................................41

Table 3.1: Brumby UAV Flight Conditions (FLTCON) ..................................................73