Aircraft Equations of Motion AE-426 Flight Dynamics --- 201 1

Aircraft Equations of Motion

-Objectives

1 2 3 4
• Axis systems • 6 dof forces and • EOM into • Kinematic Eqs.
• Coordinate moments Eqs. longitudinal and And its need
transformation lateral motions

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Aircraft Equations of Motion
-Introduction

•What is Flight Dynamics?

•Is the study of aircraft motion and
its characteristics due internally or
externally generated disturbances.

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Aircraft Equations of Motion
-Introduction

Dynamics
Studying the motion with acceleration
of particles and rigid bodies

(Kinetics) Kinematics
Describing motion i.e. position,
Studying the motion including
velocity, and acceleration, without
the effects of forces on motion reference to forces
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Aircraft Equations of Motion
-Introduction

Six degrees of freedom (6-DOF) motions

- 3 translational degrees describes the
Experiences motions in three dimensions
trajectory
- 3 rotational degrees describes the orientation

Rigid Aircraft Body

Define the axis system, or coordinate systems,

Derive the general equations of motion (EOM) or reference frame in which these equations
are derived

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Aircraft Equations of Motion
-Aircraft Axis Systems

Why we need axis systems?

• To derive aircraft EOM.
• To define a particular vector (aerodynamic forces, weight,
thrust, …)
Characteristics of these axis systems
• Right-hand Orthogonal

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 Aircraft Equations of Motion
-Aircraft Axis Systems (Cont.)

Earth Axis System (Non-Rotating): XE, YE, ZE

• Inertial. Why?
• Rotational velocity of the earth is neglected
• Acceptable for supersonic airplanes but not hypersonic
• Fixed on Earth, XE to North, YE to East, ZE to center cg
of Earth.
Body Axis System (Rotating): Xb, Yb, Zb
• Non-inertial. α
• Fixed on aircraft c.g., Xb out to nose, Yb out to right Yb
Xb
wing, Zb down of aircraft. Ys
• Easy to find moments and products of inertia. Zs
Zb
Stability Axis System: Xs, Ys, Zs
• Obtained by rotating body axis by angle of attack α.
• Xs in direction of relative wind V∞, Ys out to right Xs
wing, Zs down of aircraft.
O
XE V∞
YE
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Aircraft Equations of Motion
-Coordinate Transformations

Weight Vector
0 0
• 𝐹തWeightEarth = 𝐹തGravityEarth = 𝐹ത𝐺𝐸 = 0 = 0
𝑊 Earth 𝑚𝑔 Earth

Aerodynamic Forces
−𝐷
• 𝐹തAero = 𝐹ത𝐴 = 𝐹𝐴𝑦
−𝐿 Stability

Thrust Vector
𝑇 cos 𝜙 𝑇
• 𝐹തThrust = 𝐹ത𝑇 = 0
−𝑇 sin 𝜙 𝑇 Body

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 Aircraft Equations of Motion
-Coordinate Transformations (Cont)

cg
O
XE

Yb YE
Xb
ZE

Zb
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Aircraft Equations of Motion
-Coordinate Transformations (Cont)

Earth to Body Axis Transformation

• Three consecutive Euler rotations through Euler angles in order.
─ 1st rotation through YAW (Heading) angle Ψ.
─ 2nd rotation through PITCH angle Θ.
─ 3rd rotation through ROLL angle Φ.

Earth Axis Ψ, Θ, Φ Body Axis

System System

0 ≤ Ψ ≤ 360∘
• Angles limits: −90∘ ≤ Θ ≤ 90∘
−180∘ ≤ Φ ≤ 180∘

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 Aircraft Equations of Motion
-Coordinate Transformations (Cont)

STEP (1): Rotate 𝐹Ԧ𝐸 = 𝑋𝐸 𝑖𝐸Ƹ + 𝑌𝐸 𝑗𝐸Ƹ + 𝑍𝐸 𝑘෠ 𝐸 in STEP (2): Rotate 𝐹Ԧ ′ = 𝑋 ′ 𝑖′Ƹ + 𝑌 ′ 𝑗′Ƹ + 𝑍 ′ 𝑘෠ ′ in STEP (3): Rotate 𝐹Ԧ ′′ = 𝑋 ′′ 𝑖′′ Ƹ + 𝑍 ′′ 𝑘෠ ′′
Ƹ + 𝑌 ′′ 𝑗′′
Earth axis by Ψ about z-axis to get: intermediate axis by Θ about y-axis to get: in intermediate axis by Φ about x-axis to get:
• Intermediate axis 𝑖′Ƹ , 𝑗′Ƹ , 𝑘෠ ′ with 𝐹Ԧ ′ = 𝑋 ′ 𝑖Ƹ′ + 𝑌 ′ 𝑗′Ƹ + 𝑍 ′ 𝑘෠ ′ • Another intermediate axis 𝑖′′ Ƹ , 𝑘෠ ′′ with 𝐹Ԧ ′′ = 𝑋 ′′ 𝑖′′
Ƹ , 𝑗′′ Ƹ + • Body axis 𝑖,Ƹ 𝑗,Ƹ 𝑘෠ with 𝐹Ԧ𝐵 = 𝑋𝐵 𝑖Ƹ + 𝑌𝐵 𝑗Ƹ + 𝑍𝐵 𝑘෠
′′ ′′ ′′ ෠ ′′
• 𝑋 ′ = +𝑋𝐸 cos Ψ + 𝑌𝐸 sin Ψ 𝑌 𝑗Ƹ + 𝑍 𝑘 • 𝑋𝐵 = +𝑋 ′′
• 𝑌 ′ = −𝑋𝐸 sin Ψ + 𝑌𝐸 cos Ψ • 𝑋 ′′ = 𝑋 ′ cos Θ − 𝑍 ′ sin Θ • 𝑌𝐵 = +𝑌 ′′ cos Φ + 𝑍 ′′ sin Φ
• 𝑍 ′ = +𝑍𝐸 • 𝑌 ′′ = 𝑌 ′ • 𝑍𝐵 = −𝑌 ′′ sin Φ + 𝑍 ′′ cos Φ
𝑋′ cos Ψ sin Ψ 0 𝑋𝐸 • 𝑍 ′′ = 𝑋 ′ sin Θ + 𝑍 ′ cos Θ 𝑋𝐵 1 0 0 𝑋 ′′
′
• 𝑌 = − sin Ψ cos Ψ 0 𝑌𝐸 𝑋 ′′ cos Θ 0 − sin Θ 𝑋 ′ • 𝑌𝐵 = 0 cos Φ sin Φ 𝑌 ′′
′′
𝑍′ 0 0 1 𝑍𝐸 • 𝑌 = 0 1 0 𝑌′ 𝑍𝐵 0 − sin Φ cos Φ 𝑍 ′′
𝑅3 Ψ 𝑍 ′′ sin Θ 0 cos Θ 𝑍 ′ 𝑅1 Φ
𝑅2 Θ
• 𝐹Ԧ ′ = 𝑅3 Ψ 𝐹Ԧ𝐸 • 𝐹Ԧ𝐵 = 𝑅1 Φ 𝐹Ԧ ′′ = 𝑅1 Φ 𝑅2 Θ 𝑅3 Ψ 𝐹Ԧ𝐸
• 𝐹Ԧ ′′ = 𝑅2 Θ 𝐹Ԧ ′ = 𝑅2 Θ 𝑅3 Ψ 𝐹Ԧ𝐸

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Aircraft Equations of Motion
-Coordinate Transformations (Cont)

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Aircraft Equations of Motion
-Coordinate Transformations (Cont)

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Aircraft Equations of Motion
-Coordinate Transformations (Cont)

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Aircraft Equations of Motion
-Coordinate Transformations (Cont)

Stability to Body Axis Transformation

• Required to transform aerodynamic forces.
• Rotate stability axis system about y-axis through positive angle of attack 𝛼
Body Axis Stability
𝛼 about y
System Axis System

cos 𝛼 0 − sin 𝛼
• 𝑅2 𝛼 = 0 1 0
sin 𝛼 0 cos 𝛼

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Aircraft Equations of Motion
-Coordinate Transformations (Cont)
Summary of Axes Transformation
• Earth to body axis transformation:
𝐹Ԧ𝐵 = 𝑅1 Φ 𝑅2 Θ 𝑅3 Ψ 𝐹Ԧ𝐸
• Body to Earth axis transformation:
𝐹Ԧ𝐸 = 𝑅3 −Ψ 𝑅2 −Θ 𝑅1 −Φ 𝐹Ԧ𝐵
𝐹Ԧ𝐸 = 𝑅3𝑇 Ψ 𝑅2𝑇 Θ 𝑅1𝑇 Φ 𝐹Ԧ𝐵
• Stability to body axis transformation:
𝐹Ԧ𝐵 = 𝑅2 𝛼 𝐹Ԧ𝑆
• Overall;

Earth Axis Ψ, Θ, Φ Body Axis 𝛼 Stability Axis

System System System

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Aircraft Equations of Motion
-Aircraft Force Equations

• Developed from Newton’s 2nd Law;

𝑑 𝑚𝑉
= ณԦ
𝐹
𝑑𝑡 Inertial 𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝑓𝑜𝑟𝑐𝑒𝑠
𝑇𝑖𝑚𝑒 𝑟𝑎𝑡𝑒 𝑜𝑓 𝑐ℎ𝑎𝑛𝑔𝑒 𝑜𝑓 𝑙𝑖𝑛𝑒𝑎𝑟 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚 𝑎𝑐𝑡𝑖𝑛𝑔 𝑜𝑛
(𝐴𝑖𝑟𝑐𝑟𝑎𝑓𝑡 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑖𝑛 𝑡𝑒𝑟𝑚𝑠 𝑜𝑓 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛𝑠) 𝑎𝑖𝑟𝑐𝑟𝑎𝑓𝑡 ′ 𝑠 𝑐.𝑔.

• Newton’s 2nd Law is valid only in an inertial reference frame.

• Inertial frame → fixed in space with no relative motion.
• Assumptions to develop EOM:
– Aircraft is a rigid body.
– Aircraft mass is constant.
– Earth axis system is assumed to be inertial.
• Three translational EOM.

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Aircraft Equations of Motion
-Aircraft Force Equations (Cont)

• Since Newton’s 2nd Law applies only in an inertial (non-rotating) axis system BUT
ALL THE ACTION happen on a non-inertial (rotating) axis system, then, we need
to write aircraft EOM in its body axis system.

• So, we need a vector transformation relationship;

𝑑 𝐴Ԧ 𝑑 𝐴Ԧ
= + 𝜔 × 𝐴Ԧ
𝑑𝑡 Inertial 𝑑𝑡 Non−Inertial 𝐴𝑛𝑔𝑢𝑙𝑎𝑟
𝑁𝑜𝑛−𝑅𝑜𝑡𝑎𝑡𝑖𝑛𝑔 𝑅𝑜𝑡𝑎𝑡𝑖𝑛𝑔 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛
𝑠𝑦𝑠𝑡𝑒𝑚 𝑠𝑦𝑠𝑡𝑒𝑚 𝑒𝑓𝑓𝑒𝑐𝑡
Where
Ԧ represents any vector which is to be transformed.
𝐴:
𝜔: is the angular rotation vector of rotating system relative to non-rotating
system.
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Aircraft Equations of Motion
-Aircraft Force Equations (Cont.)
Steps to Develop Aircraft Force EOM
STEP ① : Starting with Newton’s 2nd Law;
𝑑 𝑚𝑉
= 𝐹Ԧ
𝑑𝑡 Inertial
𝑑 𝑉
𝑚 = 𝐹Ԧ
𝑑𝑡 Inertial
𝑚 𝑎ԦInertial = 𝐹Ԧ

STEP ② : Expressing 𝑎ԦInertial in body axis system and accounting for the rotation of body axis on the aircraft;
ሶ
𝑎ԦInertial Body = 𝑉Body + 𝜔Body × 𝑉Body
𝐴𝑖𝑟𝑐𝑟𝑎𝑓𝑡 𝐴𝑖𝑟𝑐𝑟𝑎𝑓𝑡
𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦
𝑅𝑎𝑡𝑒 𝑉𝑒𝑐𝑡𝑜𝑟
𝑃 𝑟𝑜𝑙𝑙 𝑈 𝑓𝑜𝑟𝑤𝑎𝑟𝑑
𝑄 𝑝𝑖𝑡𝑐ℎ 𝑉 𝑠𝑖𝑑𝑒
𝑅 𝑦𝑎𝑤 𝑊 𝑑𝑜𝑤𝑛𝑤𝑟𝑑
𝑈ሶ 𝑖Ƹ 𝑗Ƹ 𝑘෠ 𝑈ሶ + 𝑄𝑊 − 𝑅𝑉
𝑎ԦInertial Body = 𝑉ሶ + 𝑃 𝑄 𝑅 ⇒ 𝑉ሶ + 𝑅𝑈 − 𝑃𝑊
𝑊ሶ Body 𝑈 𝑉 𝑊 Body 𝑊ሶ + 𝑃𝑉 − 𝑄𝑈 Body
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Aircraft Equations of Motion
-Aircraft Force Equations (Cont)
STEP ③ : Newton’s 2nd Law becomes;
𝑎ԦInertial Body = 𝐹Ԧ Body
𝑈ሶ + 𝑄𝑊 − 𝑅𝑉 𝐹𝑥
𝑚 𝑉ሶ + 𝑅𝑈 − 𝑃𝑊 = 𝐹𝑦
𝑊ሶ + 𝑃𝑉 − 𝑄𝑈 Body 𝐹𝑧 Body

STEP ④ : Expanding RHS of 𝐹ԦBody ;

𝐹𝑥 𝐹𝐺 𝑥 𝐹𝐴 𝑥 𝐹𝑇 𝑥
𝐹ԦBody = 𝐹𝑦 = 𝐹𝐺 𝑦 + 𝐹𝐴 𝑦 + 𝐹𝑇 𝑦
𝐹𝑧 Body 𝐹𝐺 𝑧 𝐹𝐴 𝑧 𝐹𝑇 𝑧
Body Body Body
𝐺𝑟𝑎𝑣𝑖𝑡𝑦 𝐴𝑒𝑟𝑜𝑑𝑦𝑛𝑎𝑚𝑖𝑐 𝑇ℎ𝑟𝑢𝑠𝑡

STEP ⑤ : Combine and separate Eq. 𝑎ԦInertial Body = 𝐹ԦBody ;

𝑚 𝑈ሶ + 𝑄𝑊 − 𝑅𝑉 = −𝑚𝑔 sin Θ + −𝐷 cos 𝛼 + 𝐿 sin 𝛼 + 𝑇 cos Φ 𝑇
𝑚 𝑉ሶ + 𝑅𝑈 − 𝑃𝑊 = 𝑚𝑔 sin Φ cos Θ + 𝐹𝐴 𝑦 + 0
𝑚 𝑊ሶ + 𝑃𝑉 − 𝑄𝑈 = 𝑚𝑔 cos Φ cos Θ + −𝐷 sin 𝛼 − 𝐿 cos 𝛼 + −𝑇 sin Φ 𝑇
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Aircraft Equations of Motion
-Aircraft Moment Equations

• Developed from Newton’s 2nd Law;

𝑑𝐻
= 𝑀
ณ
𝑑𝑡 Inertial 𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝑚𝑜𝑚𝑒𝑛𝑡𝑠
𝑇𝑖𝑚𝑒 𝑟𝑎𝑡𝑒 𝑜𝑓 𝑐ℎ𝑎𝑛𝑔𝑒 𝑜𝑓𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑡𝑖𝑛𝑔 𝑜𝑛
𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚 𝑜𝑓 𝑎𝑖𝑟𝑐𝑟𝑎𝑓𝑡 𝑎𝑖𝑟𝑐𝑟𝑎𝑓𝑡

• Angular momentum of aircraft;

𝐻 = 𝑟Ԧ × 𝑚𝑉

• Three rotational EOM.

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Aircraft Equations of Motion
-Aircraft Moment Equation (Cont)
Steps to Develop Aircraft Moment EOM

STEP ① : Starting with a small elemental mass dm of aircraft located at dome distance from c.g. and
rotating with positive angular rates about c.g.;
𝑟Ԧdm = 𝑥 𝑖Ƹ + 𝑦𝑗Ƹ + 𝑧𝑘෠

STEP ② : Expressing the velocity of dm and accounting for its rotation around c.g.;
𝑑𝑟Ԧdm
𝑉dm = + 𝜔Body × 𝑟Ԧdm
𝑑𝑡 Body
=0
𝑟𝑖𝑔𝑖𝑑 𝑏𝑜𝑑𝑦
𝑉dm = 𝜔Body × 𝑟Ԧdm
𝑉dm = 𝑄𝑧 − 𝑅𝑦 𝑖Ƹ + 𝑅𝑥 − 𝑃𝑧 𝑗Ƹ + 𝑃𝑦 − 𝑄𝑥 𝑘෠
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Aircraft Equations of Motion
-Aircraft Moment Equation (Cont)
Steps to Develop Aircraft Moment EOM
STEP ① : Starting with a small elemental mass d𝑚 of aircraft located at some distance from c.g. and rotating
with positive angular rates about c.g.;
𝑟Ԧdm = 𝑥 𝑖Ƹ + 𝑦𝑗Ƹ + 𝑧𝑘෠

STEP ② : Expressing the velocity of d𝑚 and accounting for its rotation around c.g.;
𝑑𝑟Ԧd𝑚
𝑉d𝑚 = + 𝜔Body × 𝑟Ԧd𝑚
𝑑𝑡 Body
=0
𝑟𝑖𝑔𝑖𝑑 𝑏𝑜𝑑𝑦
𝑉d𝑚 = 𝜔Body × 𝑟Ԧd𝑚
𝑉d𝑚 = 𝑄𝑧 − 𝑅𝑦 𝑖Ƹ + 𝑅𝑥 − 𝑃𝑧 𝑗Ƹ + 𝑃𝑦 − 𝑄𝑥 𝑘෠

STEP ③ : Linear momentum of d𝑚 and accounting for its rotation around c.g.;
Linear Momentum = d𝑚𝑉d𝑚
= d𝑚 𝑄𝑧 − 𝑅𝑦 𝑖Ƹ + 𝑅𝑥 − 𝑃𝑧 𝑗Ƹ + 𝑃𝑦 − 𝑄𝑥 𝑘෠
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Aircraft Equations of Motion
-Aircraft Moment Equation (Cont)
STEP ④ : Angular momentum of d𝑚;
d𝐻 = 𝑟Ԧd𝑚 × d𝑚𝑉d𝑚

d𝐻𝑥 𝑖Ƹ 𝑗Ƹ 𝑘෠
d𝐻𝑦 = 𝑥 𝑦 𝑧
d𝐻𝑧 d𝑚 𝑄𝑧 − 𝑅𝑦 d𝑚 𝑅𝑥 − 𝑃𝑧 d𝑚 𝑃𝑦 − 𝑄𝑥

d𝐻𝑥 = 𝑃 𝑦 2 + 𝑧 2 d𝑚 − 𝑄𝑥𝑦 d𝑚 − 𝑅𝑥𝑧 d𝑚

d𝐻𝑦 = 𝑄 𝑥 2 + 𝑧 2 d𝑚 − 𝑅𝑦𝑧 d𝑚 − 𝑃𝑥𝑦 d𝑚
d𝐻𝑧 = 𝑅 𝑥 2 + 𝑦 2 d𝑚 − 𝑃𝑥𝑧 d𝑚 − 𝑄𝑦𝑧 d𝑚
STEP ⑤ : Integrating;
න d𝐻𝑥 = 𝑃 න 𝑦 2 + 𝑧 2 d𝑚 − 𝑄 න 𝑥𝑦 d𝑚 − 𝑅 න 𝑥𝑧 d𝑚

𝐼𝑥𝑥 𝐼𝑥𝑦 𝐼𝑥𝑧

න d𝐻𝑦 = 𝑄 න 𝑥 2 + 𝑧 2 d𝑚 − 𝑅 න 𝑦𝑧 d𝑚 − 𝑃 න 𝑥𝑦 d𝑚 Moments of Inertia Products of Inertia

𝐼𝑥𝑥 𝐼𝑥𝑦
𝐼𝑦𝑦 𝐼𝑦𝑧 𝐼𝑥𝑦 𝐼𝑦𝑦 𝐼𝑥𝑧
𝐼𝑧𝑧 𝐼𝑦𝑧
න d𝐻𝑧 = 𝑅 න 𝑥 2 + 𝑦 2 d𝑚 − 𝑃 න 𝑥𝑧 d𝑚 − 𝑄 න 𝑦𝑧 d𝑚

𝐼𝑧𝑧 𝐼𝑥𝑧 𝐼𝑦𝑧

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Aircraft Equations of Motion
-Aircraft Moment Equation (Cont)
Integrating;
𝐻𝑥 = 𝑃𝐼𝑥𝑥 − 𝑄𝐼𝑥𝑦 − 𝑅𝐼𝑥𝑧
𝐻𝑦 = 𝑄𝐼𝑦𝑦 − 𝑅𝐼𝑦𝑧 − 𝑃𝐼𝑥𝑦
𝐻𝑧 = 𝑅𝐼𝑧𝑧 − 𝑃𝐼𝑥𝑧 − 𝑄𝐼𝑦𝑧

Ԧ . If aircraft has an xz plane

The same can be obtained applying basic physics using, 𝐻 = 𝐼𝜔
of symmetry, then

𝐻𝑥 = 𝑃𝐼𝑥𝑥 − 𝑅𝐼𝑥𝑧
𝐻𝑦 = 𝑄𝐼𝑦𝑦
𝐻𝑧 = 𝑅𝐼𝑧𝑧 − 𝑃𝐼𝑥𝑧

𝐻 = 𝑃𝐼𝑥𝑥 − 𝑅𝐼𝑥𝑧 𝑖Ƹ + 𝑄𝐼𝑦𝑦 𝑗Ƹ + 𝑅𝐼𝑧𝑧 − 𝑃𝐼𝑥𝑧 𝑘෠

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Aircraft Equations of Motion
-Aircraft Moment Equation (Cont)
STEP ⑥ : Taking the time rate of angular momentum vector 𝐻 = 𝑃𝐼𝑥𝑥 − 𝑅𝐼𝑥𝑧 𝑖Ƹ + 𝑄𝐼𝑦𝑦 𝑗Ƹ + 𝑅𝐼𝑧𝑧 − 𝑃𝐼𝑥𝑧 𝑘෠ ;
𝑑𝐻 𝑑𝐻
= + 𝜔Body × 𝐻Body
𝑑𝑡 InertialBody 𝑑𝑡 Body
Where,
𝑃𝐼ሶ 𝑥𝑥 − 𝑅𝐼 ሶ 𝑥𝑧 + 𝑃𝐼𝑥𝑥ሶ − 𝑅 𝐼𝑥𝑧ሶ
𝑑𝐻
= 𝑄𝐼ሶ 𝑦𝑦 + 𝑄 𝐼𝑦𝑦ሶ
𝑑𝑡 Body
𝑅𝐼 ሶ 𝑧𝑧 − 𝑃𝐼ሶ 𝑥𝑧 + 𝑅 𝐼𝑧𝑧ሶ − 𝑃𝐼𝑥𝑧ሶ
Body
Since aircraft mass distribution is constant,
𝑃𝐼ሶ 𝑥𝑥 − 𝑅𝐼 ሶ 𝑥𝑧
𝑑𝐻
= 𝑄𝐼ሶ 𝑦𝑦
𝑑𝑡 Body
𝑅𝐼 ሶ 𝑧𝑧 − 𝑃𝐼ሶ 𝑥𝑧
Body
Combining all,
𝑃𝐼ሶ 𝑥𝑥 − 𝑅𝐼 ሶ 𝑥𝑧 𝑖Ƹ 𝑗Ƹ 𝑘෠ 𝑃𝐼ሶ 𝑥𝑥 + 𝑄𝑅 𝐼𝑧𝑧 − 𝐼𝑦𝑦 − 𝑅ሶ + 𝑃𝑄 𝐼𝑥𝑧
𝑑𝐻
= 𝑄𝐼ሶ 𝑦𝑦 + 𝑃 𝑄 𝑅 ሶ 𝑦𝑦 − 𝑃𝑅 𝐼𝑧𝑧 − 𝐼𝑥𝑥 + 𝑃2 − 𝑅 2 𝐼𝑥𝑧
⟹ 𝑄𝐼
𝑑𝑡 InertialBody
𝑅𝐼 ሶ 𝑧𝑧 − 𝑃𝐼ሶ 𝑥𝑧 𝑃𝐼𝑥𝑥 − 𝑅𝐼𝑥𝑧 𝑄𝐼𝑦𝑦 𝑅𝐼𝑧𝑧 − 𝑃𝐼𝑥𝑧 𝑅𝐼ሶ 𝑧𝑧 + 𝑃𝑄 𝐼𝑦𝑦 − 𝐼𝑥𝑥 + 𝑄𝑅 − 𝑃ሶ 𝐼𝑥𝑧
Body Body

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Aircraft Equations of Motion
-Aircraft Moment Equation (Cont)
STEP ⑦ : The three moment equations in the body axis are found from:
𝑑𝐻
= 𝑀Body
𝑑𝑡 InertialBody
Where,
𝐿 𝐿𝐴 𝐿𝑇 rolling moment
𝑀Body = 𝑀 = 𝑀𝐴 + 𝑀𝑇 = pitching moment
𝑁 Body 𝑁𝐴 Body 𝑁𝑇 Body yawing moment
𝐴𝑒𝑟𝑜𝑑𝑦𝑛𝑎𝑚𝑖𝑐 𝑇ℎ𝑟𝑢𝑠𝑡
Since aircraft mass distribution is constant,
𝑃𝐼ሶ 𝑥𝑥 + 𝑄𝑅 𝐼𝑧𝑧 − 𝐼𝑦𝑦 − 𝑅ሶ + 𝑃𝑄 𝐼𝑥𝑧 = 𝐿
ሶ 𝑦𝑦
𝑄𝐼 − 𝑃𝑅 𝐼𝑧𝑧 − 𝐼𝑥𝑥 + 𝑃2 − 𝑅 2 𝐼𝑥𝑧 = 𝑀
ሶ 𝑧𝑧
𝑅𝐼 + 𝑃𝑄 𝐼𝑦𝑦 − 𝐼𝑥𝑥 + 𝑄𝑅 − 𝑃ሶ 𝐼𝑥𝑧 = 𝑁
𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑔𝑦𝑟𝑜 𝑐𝑜𝑢𝑝𝑙𝑖𝑛𝑔
𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑝𝑟𝑒𝑐𝑒𝑠𝑠𝑖𝑜𝑛 𝑡𝑒𝑟𝑚𝑠
𝑡𝑒𝑟𝑚𝑠 𝑡𝑒𝑟𝑚𝑠

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Aircraft Equations of Motion
-Aircraft EOM’s
• Six differential EOM;
𝑚 𝑈ሶ + 𝑄𝑊 − 𝑅𝑉 = −𝑚𝑔 sin Θ + −𝐷 cos 𝛼 + 𝐿 sin 𝛼 + 𝑇 cos Φ 𝑇
𝑚 𝑉ሶ + 𝑅𝑈 − 𝑃𝑊 = 𝑚𝑔 sin Φ cos Θ + 𝐹𝐴𝑦
𝑚 𝑊ሶ + 𝑃𝑉 − 𝑄𝑈 = 𝑚𝑔 cos Φ cos Θ + −𝐷 sin 𝛼 − 𝐿 cos 𝛼 − 𝑇 sin Φ 𝑇
𝑃𝐼ሶ 𝑥𝑥 + 𝑄𝑅 𝐼𝑧𝑧 − 𝐼𝑦𝑦 − 𝑅ሶ + 𝑃𝑄 𝐼𝑥𝑧 = 𝐿
𝑄𝐼ሶ 𝑦𝑦 − 𝑃𝑅 𝐼𝑧𝑧 − 𝐼𝑥𝑥 + 𝑃2 − 𝑅2 𝐼𝑥𝑧 = 𝑀
ሶ 𝑧𝑧 + 𝑃𝑄 𝐼𝑦𝑦 − 𝐼𝑥𝑥 + 𝑄𝑅 − 𝑃ሶ 𝐼𝑥𝑧 = 𝑁
𝑅𝐼
• Dependent variables: 𝑈, 𝑉, 𝑊, 𝑃, 𝑄, 𝑅
• Independent variable: 𝑡
• Nonlinear ODE.
• No closed-form analytical solution, only numerical methods.
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 Aircraft Equations of Motion
-Aircraft EOM’s (Cont)

𝑚 𝑈ሶ + 𝑄𝑊 − 𝑅𝑉 = −𝑚𝑔 sin Θ + −𝐷 cos 𝛼 + 𝐿 sin 𝛼 + 𝑇 cos Φ 𝑇

Longitudinal ሶ 𝑦𝑦 − 𝑃𝑅 𝐼𝑧𝑧 − 𝐼𝑥𝑥 + 𝑃2 − 𝑅2 𝐼𝑥𝑧 = 𝑀
𝑄𝐼
EOM
𝑚 𝑊ሶ + 𝑃𝑉 − 𝑄𝑈 = 𝑚𝑔 cos Φ cos Θ + −𝐷 sin 𝛼 − 𝐿 cos 𝛼 − 𝑇 sin Φ 𝑇
EOM can
be
decoupled ሶ 𝑥𝑥 + 𝑄𝑅 𝐼𝑧𝑧 − 𝐼𝑦𝑦 − 𝑅ሶ + 𝑃𝑄 𝐼𝑥𝑧 = 𝐿𝐴 + 𝐿 𝑇
𝑃𝐼

Lateral EOM 𝑚 𝑉ሶ + 𝑅𝑈 − 𝑃𝑊 = 𝑚𝑔 sin Φ cos Θ + 𝐹𝐴𝑦 + 𝐹𝑇 𝑦

ሶ 𝑧𝑧 + 𝑃𝑄 𝐼𝑦𝑦 − 𝐼𝑥𝑥 + 𝑄𝑅 − 𝑃ሶ 𝐼𝑥𝑧 = 𝑁𝐴 + 𝑁𝑇
𝑅𝐼

• BENEFIT: easier to solve three EOM simultaneously for many flight conditions.

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Aircraft Equations of Motion
-Aircraft Kinematic EOM’s
• Additional Eqs are required with the 6 EOM to completely solve
aircraft motion, Why?
− Only 6 Eqs, with
− More than 6 unknowns: 𝑈, 𝑉, 𝑊, 𝑃, 𝑄, 𝑅, Φ, Θ

• Are found by relating body axis system angular velocity rates (𝑃, 𝑄, 𝑅)
to time rate of change of Euler angle “Euler rates” (Φ,ሶ Θ,ሶ Ψሶ ), How?
− Since the magnitude of the three body rate must equal the magnitude of
the three Euler rates;
𝑃2 + 𝑄2 + 𝑅2 = Ψሶ 2 + Θሶ 2 + Φሶ 2
− the following equality must satisfy:
ሶ
𝜔Body = 𝑃𝑖Ƹ + 𝑄𝑗Ƹ + 𝑅𝑘෠ = Ψሶ + Θ + Φሶ
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Aircraft Equations of Motion
-Aircraft Kinematic EOM’s (Cont)

• Note this:
ሶ
𝑃𝑖Ƹ + 𝑄𝑗Ƹ + 𝑅𝑘෠ =
ณ Ψሶ + Θ + Φሶ
𝑖𝑛 𝑛𝑜𝑡 𝑖𝑛
𝑏𝑜𝑑𝑦 𝑟𝑒𝑎𝑙𝑙𝑦 𝑑𝑖𝑓𝑓𝑒𝑟𝑒𝑛𝑡
𝑎𝑥𝑖𝑠 𝑡𝑟𝑢𝑒 𝑎𝑥𝑒𝑠
• For the above to be valid, both sides must be on the same axis
system.
• Euler rates vectors are found from the Euler rotation sequences
(Recall slide 9);
ሶ
Ψ = Ψሶ 𝑘෠ 𝐸 = Ψሶ 𝑘෠ ′
ሶ
Θ = Θሶ 𝑗′Ƹ = Θሶ 𝑗′′
Ƹ
Φሶ = Φሶ 𝑖′′
Ƹ = Φሶ 𝑖Ƹ
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Aircraft Equations of Motion
-Aircraft Kinematic EOM’s (Cont)

• Rewrite in body axis system:

Ψሶ = Ψሶ 𝑘෠ 𝐸 = Ψሶ 𝑘෠ ′ = 𝑅1 Φ 𝑅2 Θ Ψሶ 𝑘෠
ሶ
Θ = Θሶ 𝑗′Ƹ = Θሶ 𝑗′′Ƹ = 𝑅1 Φ Θሶ 𝑗Ƹ
Φሶ = Φሶ 𝑖′′Ƹ = Φሶ 𝑖Ƹ
• Hence;
𝜔Body = 𝑃𝑖Ƹ + 𝑄 𝑗Ƹ + 𝑅𝑘෠ = 𝑅1 Φ 𝑅2 Θ Ψሶ 𝐾
෡𝐸 + 𝑅1 Φ Θሶ 𝑗′Ƹ + Φሶ 𝑖′′
Ƹ
• Carrying out the mathematics;
𝑃 = − sin Θ Ψሶ + Φሶ Φሶ = 𝑃 + 𝑄 sin Φ tan Θ + 𝑅 cos Φ tan Θ
𝑄 = sin Φ cos Θ Ψሶ + cos Φ Θሶ or Θሶ = 𝑄 cos Φ − 𝑅 sin Φ
𝑅 = cos Φ cos Θ Ψሶ − sin Φ Θሶ Ψሶ = 𝑄 sin Φ + 𝑅 cos Φ sec Θ

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