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IM I l JI’ r M U B EFORE COMPLETING FOR M
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G O V T A C C E S S I O N NO 3 REC IPIENT S C A T A L O G NUMB ER
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~~ J)EVEL OPM ENT CF THE EQUATIONS OF JIOTION AND Technical Re~~~~t,
TRANSFER FUNCT iONS FOR UNDERWATER VEHICLES , ORG. ~~~~~~~~~ NUM ER
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IC . P R O G R A M E L E M E N T , PROJ ECT , TAS K
ARE A & WORK UNIT N U M B E R S
Task Area N o. ZF 61-112-00 1
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A G E ~~ CY F4A M E & A D O R E S S ( S I different fro I~~4Q’~ IS. S E C U R I T Y CLASS. (of tAle report)
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_ _
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lb S U P P L E M E N T A R Y N OT E S
59. K E Y WOR DS (Conti nua or, rev. ,.. aid. if n.c...ar,’ a~d identify by block numb.,)
Equation of Motion Underwater Vehicles Mathematical Models
Transfer Functions Control Simulation Long itudinal Stability
Lateral Stability Dynamic Response Identifiers:
Numerical Analysis Fluid Dynamics Vehicle Hydrodynamics
Simulation Hydrodynamics
20 A B S T R A C T (Continu, on rev.?.,aid. if n.c.aa.ty mid identify by block numb.r)
DD ~~~~~~
1473 E D I T I O N OF I N O V 65 IS OSSOL ETE
TINrn.ASSTP-J-Fn
S/ N 0 10 2 - 0 1 4 - 6601
SECU RITY CLASSI FICATION OF THIS PAGE (Wh.n Date tnt )
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- - --- . - —
—
c~~- t . 20.
_
~~~~ ~~~~~ ‘ given in terms of the hydrodynamic coefficients. An example problem is pre—
eented to provide typical values for the characteristic vehicle motions.
I
V
UNCLAS SIPIEn
SECU ~~ITV CLA ISIFICA1 ION OF THIS PAGE(IThmi 5.9. In
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- ~~~~~~~~~~~ ~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~ ~~~~~~~~~~~~~~~~
TABLE OF CONTENTS
Page No.
IN TR ODU CTI ON 1
~‘ i I . [ i F EQUATIONS OF MOTION 13
Example 21
SUM ~1ARY 25
LIST OF ILLUSTRATIONS
~~~~~~~.
-~~ w~-’-’--~
~~~~~~~~~~~~~~~ ~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
LIST OF TABLE S
:f~i
_ _ _ _ _______________
~ • .— .— r. -— -’- -.- —-- - ~— - -
~~ ~ ~
INTRODUCTION
The economic or military val ue of any veh icle depends f und amentally
on its ability to traverse a specific path between its point of depar-
ture and its destination. Means for the control of the path vary widely
and depend on a variety of constraints. A train , for example , is con-
strained to move along a track but is not steered . Its control freedom
is merely one of speed. An automobile or surface ship, on the other
hand , while constrained to move on the surface of the land or the sea,
must be steered as well. Underwater vehicles , however , have an
additiona l degree of freedom ; for this reason their problems of the
control are of unusual complexity .
• .•.- - .• .
~~ •~~~~~~~~~~~~
_______________________
_ ,—.---• -. ,
—.—.———. — — - .--•..———-- • ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~ ~~ ~ ~ ~~~~~ ‘.‘
~X = m ( U + QW - RV )
~Y = m ( ~~ + R U - PW) (1)
F
EZ = m(W + PV — QU)
~ The Society of Naval Archite cts and Marine Engineers , TMB No. 1— 5 ,
Nomenclature for Treating the Motions of a Submerged Body Through a
Fluid, April 1952.
1 ibId .
_ _ —-- -- , .- — .—
_ _ _ _ _ _ _
— •.—• — .-.- -_.• ..--——_ -
~
~
— • • - ,• -.“-
~~~ ~~~~~~~~
-
~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
_ ‘.
~
••,•••— -.
~~~~~~~~
—-., • ‘ ----, — ,
~
-
~ -_ .
- •.- ,-—-
~~~~~~
~
-_
1
- ,
—I
‘-4
(~~~4~
cc
oQ~ 4I N~~~
w ~~~~~~~~~~~
0
NI .
._4 J .4~~ J S z
~~~
/ .-. w
/
~< I. I.’
~~.-.
N
~~~~~~~~~~~~~~~~ ~~~ /
/1
/~~~~~~
iL.~-
. ~~~~~~
~~~~~~~~~ —— - - .
_
--- . -
-- -- , —• ‘—..-,--
------— . —. .—. --_ - — --- - ._—
-,— •
. -,‘.--“-- -
~~~ ~~ ~~~~ ~~~~~~ ~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~ ~~ ~ ~ ~~ ~~ ~~ ~
PT — RI + QR(I — I ) — PQI
2 2 (1)
= QI + PR( 1 — I ) — R 1 + P 1
y x z xz xz Con .
= RI — P1 + PQ(I — I )+ QRJ
z xz y x xz
TRANSFORMATION MATRIX
Initial Final
System System
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a
_ _ _ _ _ --
-, ,
-— ---- - - . -. —“- - — -- - ---r - -- — -
~~~~~ ~ ~ ~~~ ~~~~ ~ ~~ ~ ~~~~~~~~~~~~~~~
U U + u
0
V=v +v
0
W = W + w (3)
P=P +p
0
Q = Q + q
R R + r
0
U=U +u
0
V v
W=w
(4)
P p
Q= q
R=r
_ _ . . _ —, ._ . . . .
-~ ~~~~~ ~~ ~~~ ~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~ ~~~ ~~ __ ~~ • ~~~~~~~~~~ ~~~
.
_—
1
. — —- •—
— -. •‘,—.-.— - — —
~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~ ~~ ~
~~~~~~~~~~~~~
1X m(u + qw — rv)
ZY = m ( v + rU + ru - pw)
EZ m(w+pv - qU - qu)
(5)
p1 —
~ I xz + qr(I z
— I ) — pq l
x y xz
• ) 2 2
EM = qI + pr(I - I - r 1 + p 1
y x z xz xz
EN = rI — p1 + pq(I — I ) + qrI
z xz y x xz
= mu
~Y m(v + r1J )
= m( w — qU )
0
(6)
EK pI —rI
x xz
EM = qI
y
EN rI —p 1
z xz
The rela tio nship be tween the ang u lar vel ocit ies and the ra te of
change o f the ang les (q, 8,~ )are given by
P = 6
—
~ ~~it ~ 0
__________
-- .
~~~~
_-_--———-—-—. _ . _ . ..r_ • _ ..2 .s
~~ ~~~ ~~
.:.. ~~~~~~~~~~~~~~~~~~~~~~~~
whore P , Q, and R are the a ng u l a r v e l o c i t i e s measured about the vehicle
body axis and ç. , 0 , and
~ are the angular velocities measured about the
equilibrium axis system . F , Q, and R ar e the ang u lar veloci t ies
measured by a rate gyro located in the vehicle. A pply ing Equa t ions (4)
and the small perturbation assumption , these equations reduce to
p =
(7)
r =
Th e hydr od y nami c for ces ar e exer ted on the veh icle b y the surround—
J in ~ flu id. They are present whenever there are any reactive forces
b e tween the fluid mass and the vehicle . In steady flight they result
f rom rel ative mot ion be tween the veh icle and the fl u id mass or from
accelerated flows produced by the deflection of a control surface .
Althoug h the specific forces depend on their peculiar origins , the form
of the expressions that describe perturbations in these forces is not
particularl.y dependent upon orig in. For examp le , on veh icles des igned
t o be prop elled at very low speeds b y d ivers , the do m inan t forces and
moments arc produced by the accelerated flows (added mass and moments
of inertia) and the gravity—buoyancy terms (metacentric moment). Where-
as in the case of a high speed submarine , the dominan t contributions
come from the steady hydr odynamic terms . The end results of the treat-
men t here are pertinent to all kinds of underwater vehicles .
ibid.
7
F’ = f ( u , v , w , u , v , w , ci, ci , U , p, j , , r, r, ~
., ‘) .
Y = Y + Y ’ v+ Y v + Yp + Yp + Y 4 + Y r + Y r+16
h o v v p p 4 r r 6
I( = K + K ~ v + K v + K - p + K p + K 4 + K r + K r + K ó
n o v v p p r r 6
N = N + N . v + N v + N ~p + N p + N t + N ’ r + N r + N 6
h o v v p p 4 r r 6
(8)
L = X + X u + X u + X w + X w + Xq + K q + X 0 + X 6
n o u u w w q q 0 6
zh = Z + Z . u + Z u + Z . w + Z w + Z . q
o u u w w q
+ Z c ~~+ Z 0 + Z ~~
q 0 6
M. = M + M - u + M u + M - w + M w + M - q + M q + M O + M6
ti o u u w w q q 0 6
xU = ( U)0
~~
~
The gravi ty force can be considered to act at the center of grav ity ,
wh ereas the buoyant force acts at the center of buoyancy . The buoyant
• force also creates a moment since it is displaced from the c.g. by the
. These dis tances are shown in Figure 2 for a st able
dis tance X B’ ZB
and uns tab~ e ~configura tion . To find the expressions for the components
of gravi ty and buoyancy to be used in the equations of notion , the
x
Restoring Moment
~~~~~~~~~~~~~~ ncy
~~~~~~~~~~~~~~~ uoya~~y
•
ZB
X and Z are shown
(B) UNSTABLE B B
CONFIGURATION in a positive sense d
X = — (W — B) sin O
oGB o
‘ = (W — B) cos 0 sin
~oGB 0
Z = (W — B) cos 0 cos
GB
K =Bsin O
oB o
• The componen ts of gravi ty and buoyancy which act along the disturbed
axes x , y , and z can be found by substituting Equations (9 and 10) into
the transformation matrix given in Equations (2). Thus ,
In itial Final
Sys tem Sys tem
X
GB
Transformation
T =
oCB ~ CB
Matrix
Z
0GB
10
- •
~~~~~~~
I
or
X
co (cos ~ sin 0 sin ~ sin cos 4)
—
~ GB ~
(11)
± 1 (cos 4 cos 4 + sin p sin 0 sin 4) + Z cos 0 sin 4
~ GB
= X ( cos i~ sin 0 cos 4 + sin i4i sin 4)
GB
X = X + — OZ
GB GB ~~oGB GB
• = — 4iX + + 4Z (12)
~ GB ~ oGB ~ oGB GB
• Z = OX — + Z
GB CE ~~oGB 0GB
xB = ;
~oB +
~Y oB
— OZ
oB
Y =— ,X 4- Y +42
B oil oB oB
Z =O X — 4 Y oB + Z oB
B oB
(13)
M = X — Z X z (X + “ — OZ ) — x (OX — + Z )
B B ~B B B B B ~~oB B B B ~~oB B
N X + ‘ X + OZ ) + x (_ X + + Z )
B ~‘B
= = —
B ~B B ~B~~oB ~~oB B B ~ B ~ oB ~ oB
K = Z ‘ — ‘ Z = )‘(OX — 4’1 + Z ) — z ( X + ‘r
oB
+ $Z )-
B B ~B ~B B B oB oB 0B B ~ B B
11
. -
-— ----- —•- — - - -••~~~ - — —-- ~ ••- •- -~--~~ — • •~ —• •~~~ — . ~~~~~~~~~ •~~-
.
X X — 8(IJ — B) cos 0
GB GB
= — B) sin 0 +
~
(W - B) cos ~i
~GB
+ !p (W
— 0(W — B) sin 0 +
(14)
M. X z —x Z +OzBcos 0 — Ox B sin O
a oB B B oB B 0 B 0
N = — x B )sin 0 — x B4 cos 0
B ~
B B ~ 0
K z IPBsin 0 + z B$Bcos 0
B B
X = X + X 0
GB GB e
T + + Y~~
GB ~oGB
Z Z + Z O
GB GB O
(15)
N =M +M O
B B O
N
B
=N
B
+N 4+ N
~ ~~
K
B
= K
B
+ K~ 4 +
= — (W — B) cos 0
= (W — B) cos 0
Y~ = (W — B) sin 0 (16)
Z = — ( W — B) si n 0
8
M0 = Bz cos 0 — Bx sin 0
B o B a
4
~ ibid.
12
N —xBco s 0
4’ B o
N = — x B sin 0
B
(16)
K zBcos 0 Con .
• 4’ B o
• K zBsln 0
4’ B a -
X +X = 0
o oGB
Y +Y =0
o oGB
zo + z oGB =0
• (17)
K +K =0
o oB
M +M =0
o oB
N + N =0
o oB
13
h,.. _ _ _ _ _
- - ~~~~~~~~
mu + (X 1)
1
Hy d rod ynam i c
+ X + (X . i)
oGB
_ _ _ _ _
Gravi ty—Buoyancy
mu = (X i) + (X i)
1 i -
H GB
m (w — U ii) = (Z . i ) + (Z .i)
‘ H 1
GB
I 0 = (M ) + (M i)
u 1
H GB
m(v + U~~ ) = + (Y i )
1
H GB
I ~ — I ‘ = (K i) + (
K i)
x xz ~ 1 1
H GB
I ‘ — I 4’ = (N .i) + (N .i)
2~ xz 1 1
H GB
mu = X -u + X u + X’w + X w + X -q + X q + X 0 + X 6
U U W w q q 0
I 0 M ’u + M u + M~w + M w + M -q + M q + M 0 + M 6
y u u w w q q 0 ó s
S
and
14
. •
- - ~,
_ _
~~~~~~~~~
_ —
_ v - -— • • • - • -- - -• • -- -
~~~~~~~ ~~~~~~ ~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~ —• ~~ ~~ ~~~~~~~ ~~~ ~~~
m(v + U = Yv + Y V + .;+ Y p + Y 4’ + Y r + Y r + Y ~
0
4’)
v v ~p p 4’ r r 6 R
R
I,~ - I~~~ Kv + K y + K •p + K p + K 4’ + K r + K r + K 6 ( 19)
4’ r 6 R
I F - I 4’ = N~ v + N v + M •p + N p + N ~ + N • r + N r + N , 6
Z xz v v p p 4’ r r R
~R
Equa tions (18 and 19) are the linearized small perturbation equations
of motion .
In this section , Equations (18) and (19) are converted by the use
of determinants into t r a n s f e r f u n c t i o n s . The Laplace t r a n s f o r m method
of s o l u t i o n is used. The transformed equations are nondimensionalized
to conform to the standard SNAME nondimensionalizing f a c t o r s given in
Reference 3. Table 1 shows a representative list of these f a c t o r s . I t
should be noted t h a t the r e s u l t i ng t r a n s f e r f u n c t i o n s are nondimensional.
Before evaluating the characteristic frequency or the time response of
the vehicle , the transfer function must be first converted to the
dimensional form . The longitudinal t r a n s f e r f u n c t i o n s are derived
first , followed by the lateral transfer functions.
- X •~i
U
- X u
u — X~~, - X w
w w
- X~ 0
q - X 0
q
- X 0
0
= X 6
15
- -• • - • - ~~ -
- - —
~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~ -~~~~~ -
TABLE 1
in ’ = m/ ~~ 2.
~ X’ = X /½p i 2U M ’- = M ./ ~ p i~
3
a
~iu x ’~ = = M I U
a
w ~~~~ o
3
u’ a u/U X~ = X /•~~Z U H’ =
0 q 0 4
w/U K~ =
2
X /½ij Z U~ M~ = M /½P 14 U
0 0 q 0
2 2 3 2
a X’ = X /~~~f U M~ = M /½p t U
6 6 0
4 3 2
a M ’~ = M •/’~~~ M’ 6 = M /‘~~i U
6
3
x ’~ = M’ = M / ~~~f U I’ = I / ’-~ f~
The right—hand side of Equations (20) are the control forces and
represent the means by which either a human operator , an autopilot , or
a disturbance input can control the motion of the vehicle . The control
surface and disturbance inputs are the forcing functions which deter-
mine the resultant motion of the vehicle . Since the vehicle equations
of mo t ion are li near equat ions , the principle of superposition may be
used to obtain a solution . For example , the resp onse to s im u l taneous
app lication of sternplane and bowp lane d e f l e c t ions can be de termined
by calculating the response to each of these deflections separatel y and
then adding together the results to arrive at a complete solution .
(( m X~ )s - X Ju + [— X~ s - X ]w + [— X s 2 — X s — X JO = x 6
u u w w q q
-
0
2
[— Z s
u
— Z Ju F 1(m
u — Z .) s — Z }w + [— Z ’s
w w q
— (
2
q
+ mU )s
0
— 2 10
0
= Z 6
6 s
2
[- M-s - M Ju + [- M ’s - H ]w + [(I - M.)s - H s - M JO = M 6 (21)
u U w w y q q 0
16
• ~~~~
~ :~-
_ ,
p.- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
•—• • --— ----- -- -
. - - -- - -~~• •
,
[(m — X)s — X Ju X X
U u m u S u u
3 u /i
—
22 3 2
,
- p 9. U 1P 1 ~2I~~~ ~ 0 ~‘~ Di U
0
0
~
= [(m ’ — X’) s ’ — X’ }u ’
L i k e w i s e , for the second and third brackets and the right—hand side we
obtain:
H X s - X ]w
w w — f
X
w_ S -
X
_w~__ 1W
—
,2 2 3 U / 9. ,.2 ~ii
-P U ~~ o •
~~~~~ - LI a
~~ 0 0
= 1— X ’w-s ’ — X ’ Jw ’
w
2 K X
[— X-s - K s — X jti X 2 8
0 S q a
u2 R 2 ½cj 9. 3u
2 2
—
2 2 U /R ~
½p~~ lJ ½pi ~’ 0 ½p1 U
= [— X ’~~s ’~
q
— x ’q s ’ — x ’ 0 J0
X 6
6 s
— v ’ó
S
22 6 s~~
-~p~~ U 5
0
2 (Z ~ + m ’)s’ Z’ 10
+ [- Z’ 4s ’ — —
0
=
17
-
• • -- • - •~~~~~~~~~ - -~~~~~~~~~~~~~
F— -
•;_ .- _
~
[— M ’ - s ’ — M ’ ] u ’ + [— M ’ .s ’ —
U U w w
2
+ [(I ’ — M ’.)s’ — M’ s ’ — M ’]O = H’ 6
y q q 0
These equa tions are shown In Table 2 for reference purposes. The equa-
tions predic t the longitudinal small perturbation motions of self—
propelled vehicles.
TABLE 2
2
[(m ’ — X ’ -)s ’ X ’]~i ’ — [X ’ •s ’ + X ’ ) w ’ — [X ’ .s ’ ÷ X ’ s ’ + X ’ J O = K’ 6
6 s
—
u u w w q q 0
S
[—Z ’ . ‘
~~~
U
— Z ’ ]u ’ + [( i
U
n’ — 7 ’ .) ‘
w ~~
— zw’ j w ’
2
— [Zt .s P + (2 ’ + m ’) s ’ + Z~~]O =
2
[— M ’ -s ’ - M ’]u ’ — [M ’ •s ’ + M ’lw ’ + [( I ’
w y
— M ’ .) s ’
q
— M ’s ’
q
— M’0 Je = M’ 6
ô s
U U w 5
The t ran sf e r func t ions , for a g iven inpu t , are ob tained by solv ing
the t r a n s f o r m e d simultaneous e q u a t i o n s of motion for the output variable
of interes t with all other inputs considered to be zero . For exampl e ,
using determinan ts , we can directly write the p itch attitude to control
input t r a n s f e r f u n c t i o n s as
(m ’ X ’~~)s ’ Xu’ — X’ s ’ — X’
w 6
— —
u w S
Z ’ u-s ’ — Z’ (m ’ — Z ’ -)s ’ — Z’ 6
w w
—
u S
— M ’ ’s ’ — M’ —
M’w s ’ — M’ N’
u u w 6
0(s) —
________________________________________________
6 (s) 2
(m ’ — X ’~u )s’ X’ —X ’ s ’ X’ — X ’ -s ’ — X ’s ’ — X ’)
w q q
—
0
—
u w
V-s ’ Z’U (m ’ — Z’ ) s ’ — V —Zs ’ — (Z’ + m ’ ) s ’ + — V
0
— —
u w W q q
18
TABLE 3
0
N
6 As + B s +C
0 0 0
0/6
S
= A
= 4 3 2
—
Long As ’ + Bs ’ + Cs ’ + Ds ’ + E
W
N L
6 A s ~~~ + B s ~ + C s t +D
w w w w
w/ 6 = A
5
= 3 2
~ 4
Long As ’ + Bs ’ + Cs ’ + Ds ’ + F.
3 2
6 As ’ + B s’ + C s ’ + D
U U ‘1
u ’/ ó = =
S A 4 3 2
Long As ’ + Bs ’ + Cs ’ + Ds ’ + E
isv + m U 4 ’ - Y v Yv - ‘ 4’ -
~~~
- — T ’’ - ‘1 ’ = 6
r~ r~
-
~~ 6 R
~ R
(2 5)
IF — 1 4 ’— Nv — Nv — N-$ — —
4’ — N •V
—
N 4 ’= N 6 6
R
N 4 ’ N
4’
19
- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
—. -
~~~~~~ ~~~~
,-• •—•- - -.——-— ---— •- •-- • —,-
--
~ ~~~~~
• •- —- •—----
TABLE 4
+ y ’ .s ’ + (n ’ Y ’)s ’]4’ = Y ó
~
— —
~~
~~ R
2
[- K ’ s ’ - + [(I ’ - K ’ )s ’ - K ’s ’ - K~ J4 ’
2
+ [ ( — I’ — K’ -)s ’ — K’s ’]4’ = K ’ 6
xz r r 6 R
2
H N ’~~s ’ - N ’]~ + [ (- - N ’~~)s ’ - N ’s ’ -
~~~
2
+ [(I’ - N ’ •)s ’ - N ’ s ’]i ~ = N 6
~~ R
20
TABLE 5
3 2
s ’(A s ’ + B s ’ +Cs ’ +D)
~/ 6 R —--~~
— --— —
— _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4 3 2
~~~~ Lat s ’ (As ’ + B s ’ + C s ’ + D s ’ + E )
N 4’
s (A A s
,
+ CA ) + B 4,s
—
R 4 3 2
~Lat s ’(A s ’ + Bs ’ + Cs ’ + Ds ’ + E)
3 2
A s ’ + B~ s ’ + C s ’ + D
= ~R = 4’ 4’
R 4 3 2
~La t s ’(A s ’ + Bs ’ + Cs ’ + Ds ’ + E)
EXAMPLE
2
1.10 ~ (.329l ~ ‘ ± .4746 s ’ + .1361)
0/6 =
2
— 1.10 ~ ( . O 9O2 ’ + .3960~~’~ + 3288s ’ + .l028s ’ + .0115)
~~
is converted to the dimension il t ) r ~~I , iv rl below by the substitution
s ’ = s 9W/U
0
‘I’ABLE 6
a — 0.015020 Y’ = — 0.082369
V
U
K ’. = 0.001623 Y’ = 0.026955
U
—
r
X’ — 0 .00008 6 Y’ = 0.000086
(3 4’
• K’ = — 0.002770 Y’ - = — 0 .035545
V
6~
0.050138 Y’ . = — 0.000190
= —
p
7’ = — 0.017455 Y’ .
r
= 0.000400
q
= — 0.031545 Y’ = 0.026262
w
z ’ q. = — 0.000130 K’
v
= 0.002579
0.027695 K’ = — 0.000067
=
p
—
6$
K’ = 0.009550 K’ = — 0.000280
w r
0.001530 K — 0.001530
~~
= —
c~
R
m’ = 0 036397 N’ = — 0.0 18264
I’ 0.000047 N’ = — 0.012497
x
=
r
•
1’ = 0.001917 N ’~ = — 0.000182
V
y
I’ 0.001547 N ’- = — 0.001531
z
=
r
-- •
_
_ _ _ _ _ __ A
______ ~~~~~ ~~~~~~~~~~~~~
TABLE 7
A B C D E
A —0. 00000902 —0.00 003960 —0 . 00003288 —0.00001028 —0.00000115
Long
2
- 1.10 ~ [.7808 ~ + .2311 s + .01361
0/6 =
~ 2
l.10~~ [5.0769 ~~ + 4.5761 + .7799 s + .0501 s + .0012]
3 2
.5829 + .7698 s + .3510 s + 3383 s
.8460 s + 1.003 s + .6272 s + .4352 s + .0637 s
The dimensional t r a n s f e r f u n c t i o n s are given in Table 8 in the
polynomial and factored form.
23
—~~~~~~~~~- - - - - -
---• --~•
•~~~-~~
TABLE 8
2
l.0.l0~~ (0.7688~~ + 0.6306s + 0.0633s + 0 .00 14)
/6 _2 4 2
- l.o.lo (o.5o77s + O.4576 + 0.0780s + 0.0050s + 0.0001)
~~
0.l514(s + 0.03O2)(s + 0.0826)(s ± 07074)
—
=
2 2
[(s + .0592) + (0.02 19) ] ( s + 0.0 8 11)(s + 0 .7018)
2 3 2
1.o.1o (o.4228s + O.5420s + 0.0491s + 0.0006)
w16 _2 4 3 2
- 1.o.lo (o.5o77s + 0 4576s + O.0780s + 0.0050s + 0.0001)
s + 0.08jJ)
0.8328(s + 0.O~~~ )(
— sj+ 1.1849)
2 2
[(s + .0592) + (0.02 19) j(s + 0.0811)(s + 0.7018)
3 2
1.0.10 (0.7808s + O.2311s + 0.0136)
0/6
_ _ _ _ _ _ _
=
2 4 3 2
- l .0 . 10 (0.5077s + 0.4576s + 0.0780s + 0 .0050s + 0 .0001)
4 4 3 2
-
- 1.0.10 (0.5829s + 0.7698s + 0.3510s + 0.33835 )
— 1.0.10 (0.8459s + l.0033s + 0.6272s + 0.4352s + 0.0637s)
2 2 )
0 6890(s)[(s + .0516) + (0.6885) 1 (s + 1.2176
=
2 2
s[(s + .0543) + (0.6768) )(s + 0.l826)(s + 0 8949)
4 3 2 )
-
- l.0.10 (0.l460s + 0.06585 + 0.0725s + 0.0233
— 1.0.10 (0.8459s + l.0033s + 0.6272s + 0.4352s + 0.0637s )
2 2
0.1725[ (s + .0522) + (0.6767) ]( s + 0.3462)
=
2 2
s [( s + .0543) + (O.6768) J ( s + 0. 1826)(s + 0.8949)
2
- _ _ _ _
- l.0.10~~(0.l46l~~ + 0.2340s + O.O9lOs)
— 1.0.10 (0.8459s + 1.0033s + 0.6272s + 0.4352s + 0.0637s)
24
- -
.
‘
.
=r— ~~~~ ‘ ‘ ‘ ‘
. ‘- •—,—- ,.-•---. .-••..- --- ,, _,
~~~~~ ~~~~~ ~~
The characteristic equation for the lateral motions has five roots.
‘irst , t h ~~r e is a free s in the denominator. Then , there is a second
~
crd€ ~r mode which is of medium frequency (0.68 rad/sec) and very lightly
• dampccl ( ~ =0.08). For the s-ide velocity (v) transfer function , the free
~ is -inc cled in the numerator and the second order mode nearly cancels
r
For the yaw transfer function , the second order mode again is
nearl y ~- t o ~c l e d but the free s in the denominator remains . Thus, the
rcsponse will be characterized by a first order integrator . For the
roll transfer functions , the free s is canceled in the numerator and
the second order mode is the characteristic response mode . Thus, the
iuotions in roll will be oscillatory , with a period of 9.25 seconds and
lig h tly damped.
Figures 3 and 4 show the time responses of the vehicle for a one—
J e g r e c s t e p in the control surface . These time responses were computed
o n a d ig i t al co m p ut er using the f u l l transfer fun c tions as shown in
Table 8.
SUMMARY
25
— —•
—— —-~~ •-—---.- --—— --••-••-.————— .•-•———--, -- — —- -— - - — -- —_-
~~~~~~~~~~~~~~~~~~~~~~~~
••
0 . 0 ’
0 ,
0. 0-
141
t
U
o w
C1~ 0
w
a
S -
~~
~~~ 0 .
Z
-‘ .4
1-
0 0 . C
z
0. 0.
— —4
0 —
~1
C, I I I J I I
0 9C0 — U 0 — Oil’ — cvi’— z8i’ — —‘
(~~ a~ ) ~
( 4c Uao-Lal\ T~~ T~~ aA uo’t aaI Jau au i duia S
~~s/3d) ~ ~ ~
0)
0)
0 • z
I r—
I 1 U)
I
• 0.
0~~ /
1
I
I ‘-.4
I 1-4
I 0~~
/
I U
C) I a)
/ ~~
0 )0 - I —‘
‘ .
I
.
,~~~~
a) I-1
S
-
~~ 1-4 0
0 .
• 0 0.
4
- -4
0
C 1
0 c~ z— 9~~ — 8 9 — i ’6—
~~ Tl—
0 cooS — OT O . cr 0- — ozo - — czo —
( ~~~S/ ~ d) fl k~ TZ o Ta I t p.ze&~o~
(~~at j) 9 a [~~ U~~ 4~~ ’~ j
26
_ _ _—.4-——’—— _
—--- —-— — — — •— -— —-—-—~~~—,—‘.-.--—- .- —,-‘ -“- _ 4~~~~~-,~ ‘~ .
‘~~-.- ~~~~~~ J
~ -.
IIpF.- •_ - - -. _ _ _ _ _ - ‘ - -- -- -
~~~~~~~~~~~~ ~~~ ~~
. 0 .0
— .0 •0
‘.
0
- 0 0
I U U
I a) a)
U)
,
.4, - 0 ’-.
-
-
I -
~~ ~~
/ a
~4-1 —
•0 E~ . 0 1-’
/ 4,)
/ U,
I z
/ ‘0 o 2
C’-l 1—’
I 0
/ x
/ .0
-4
0
-4
/
/
I
1— i I I 0
• . 0— 9~~ — 9~ 6— ~‘~~ I— Z 6T— 0~~7Z—
aT2U V uo~~ oa~ ;aQ ~ appn
~9
_ _
9c0 . LEO
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
9~~I C~ I c6~ £9• Z~ 0 E60~ ~L0 610 0
( U) 4’ ~ I~ UV II°~1 (~ aS/ ~ d) ~‘ A(~ T3Ot3A ap~ g
~~
27
•. ••
~~~~~~~~~~~~~~~~~~~~~~~~ •_ ~~~~~~~• • •~~~~~~~•~ ~~~~~~~~~~~~ •~~~~~~~~~~~
A
•,- -- • -~~~ --~~~ - • -
,- _ w
Pu.— — ‘- , —
- -• C
- __ c n
—
lf
~ ~~~~~~~~~~~~~~~
•
APPENDIX A
A = (in ’ — X’ -)(m ’
u
— Z’ . ) ( I ’
w y
— M ’ ’)
q
— X ’~wM ’UZ’q — Z ’~~M ’ X ’
u w q
— (m ’ — 7 ’ -)M ’ X ’•
~u q
— Z ’ -X ’ - ( I ’ — M’) — M’ .(m’ — X’ )Z ’
w U W Y q w u q -
—
u
- Z ’ M ’Z ’ . — Z ’M’ X ’ ~ — (m ’ — Z ’ ’)M’.X’ — M’ (m’ — Z ’ w.)X ’ q.
~‘ q uw q u w q w uq u
~~~~~~~~~~~~~~
+ M’ •Z’ X ’ -
u w q
+ Z ’ -X’ M’
u W~~q
— z ’X ’ ’(I’
u w y
— M ’.
q
)— Z’•X ’( l ’
u w y
— M’ q’)
+ Z ’X ’(I ’
wu y
— M’ q•) — X ’~~M ’ -Z ’
w uO
— Mu’X’ w•( Z q’ + m ’) — M ’ -X ’ ( Z ’ +
uw q
in ’ )
— X ’ Z ’( I ’ — M ’) — M’ .(m’ — X’ )Z ~ — M~ (m ’ — X’ )(Z ’ + m ’)
A-i
I
~ -• ~•~•-•••~•• •~ _. _•••~••— _•_ - . •• •_ _
—~ ~••_•••••~ —r —— - - .
+ M ’’X’Z ’ + M’X ’( Z ’ + in ’ )
w u O w u q
Z ’M’X ’ ’ ’M ’ + X ’M’ Z ’
E Zw’Xu’ M0’ M’X ’Z ’ ~w‘Mu’XO ’ + Xw Zu O
4-
uw O
— — —
uwO uw O
— -
0
N 2
B s’ + C
6 A S’ +
= _ s_~ •= 0 0 0
0’ô
A A
Long Long
where
— IC 6’ Zw’M’ u. — V M’ X ’ + Z’ M’(m
6 vu 6 w
’ —
u
e e e
e e e e e
A— 2
. . -~~~~~~~~~
—- - -- - - . - - -- ~~~~~~~~~~~~~~~- - -
-
. --
- -— ~~~~~~~~~ --
••
.
-
.
--~~~~ : —-
~~~~~ ~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~
-
~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~ ‘ “
~‘
,
MW
3 2
As ’ + B s ’ + C s ’ +D
S _ ~~~_~W W W W
—
6 A A
s Long Long
where
A
w
= Z ’ (m ’
6
— X ’~u)(I’
y
—
N’ qs) + X i’ MS ’ uZ ’q + N’iS Z’ u•X’ • — Z’i SM’ ’X’
u ~q
~~~ ~~~
+ x ’ Z ’~~(I ’ — M ’ s) ÷ N ’ (m ’ — X ’’)Z’
u y q 6 u q
e e
B
w
= z’ (m ’ — X ’~~)M ’
U
— Z’ X ’(I ’
6 U Y
— M’ ’) + X ’ M’Z’ + X ’ M’ (Z’ +
q iS u q 6 u q
in ’ )
“ q
~e e e e
+ M’ Z ’ -X ’ + M ’ Z ’ X ’ - - 7.’ M ’ -X ’ —
Z’6 M’X ’• X’ Z’ ’M’
uq
—
uq 6 t q 6 uq q 6
e ~ e e~~ e
+ N~ Z’Z ’ — Z’ M’ -X’ —
Z’iS M’uXq’ — X ’ Z ’’M’ — X’ Z’M’ + M’ (in ’ — X’ ’)Z’
~e u q 6 uO 6 uO iS uq 6 u O
e e e e e
— M ’ x ’(z’ + in ’).
q
e
D = V X ’M’ + X ’ M’ Z ’ + N ’ Z’X ’
6 uO
— z’ M’X’
i S u O
— X ’ Z’M’
i S u O
— M’ X’Z’
6 u O
w 6 uO 6 u O
-
e C e e e e
The f o r w a r d speed t r a n s f e r f u n c t i o n is
U
N 3 2
6 As ’ + B s ’ + C s’+ D
U s —
—
u u u U
6 A A
S Long Long
whe re
A = m’
X; ( — Z’~ )(I~, — M ’~ ) + M~~X’~ Z’ + Z~~M’~ X’ + M~~ (m’ —
4 4
A- 3
‘I
-—— : ‘ ‘ “ —-— — ~~ - —’’
~~~z~:-’~~~’ ”-——-—-—-
. — •— -
~~~~ ~~~~~~~
B — — X’ (in ’ — / ‘ )M ’ — X 6’ (i ’ — M ’OZ
q w
’ + M’i XS ’ (wZ q’ + m ’) + M iS’ X’ Z ’ •
w q W q
e~~~’ e
~e w q e e e e
+ 2 ’ X ’( I ’ — M ’ s) — X ’ M ’(Z ’ + m ’) — X ’ M ’Z’~
iS W q
q 6 W q -
e e
+ 2 ’ M ’X ’ + M ’ (in’ — Z ’) X ’ — N’ 7.’ X ’ — 2 ’ X’ M ’ — Z ’ X ’M ’
6 wq 6 w 0 6 w q A wO 6 wq
e e e e e
- X ’ M’ ’Z ’ — X ’ M ’(Z ’ + m ’)
6 wO 6 w q
-
e e
A- 4
.
-- --— - - - - --•- —-- -.
~~~~~~~~ ~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~
APPENDIX B
1-:xl’REsslorjs FOR THE LATERAL TR.MJSFER FUNCTION COEFFICIENTS
4 3 2
A = s ’ (As ’ + Bs ’ + Cs ’ + Ds ’ + E)
Lat
where
A (in ’ — Y’ . (l ’ — N ’ )(I’
) — K’’) + N ’ .(— I’
V z r x p V XZ
—
r p
— (in ’ — Y ’ ’)(— I’ — N ’ )(
— I’ — K’ -)
V XZ p xz r
-
+ Y’(— I’ — K ’ - )( — I ’ — N’ -)
v xz r xz p
B— 1
-
-- _ _ _ _ _ _ _ _ _ _ _
--- --~~~ -~~~~~~~~
— ——--- --—- -— -- —
-.
— ~~~~~~~~ •---- — ~~~~~~ =‘~- —---C — — — - —~~~~~ -—- -—- _ _ __ __ _ —
C N’ (m ’ Y’ )K ’ (m ’ Y’ ) ( l ’ — N ’ )K ’ + Y ’( I ’ —
r p
— —
z r
—
r v p v 4’ V Z
N ’K ’Y’ — Y’ K’ N ’ — Y ’ K ’N ’ + (in ’ — Y ’) K’ N’
yr rvp r vp
-
p r v4’
D = N ’( m ’ — Y’ - ) K ’ + Y ’ ( I ’ — N’)K ’ — N ’Y ’ K ’ — N ’-K ’Y ’
r v 4’ v z r 4’ r v p v r 4 ’
+ N’ (— I ’ — K ’~~)Y ’ — N ’K ’Y ’ — Y ’ K ’N ’ + (m ’ - Y ’ ) K ’~~N ’
v xz r 4’ v r p r v 4 ’ r
+ K ’Y ’N ’
rvp -
N 3 2
6 s’(A~ s ’ + B ~ s ’ + C s’ + D)~~
=
6
=
6 A A
R L
B— 2
- _
K ’ y ’- (— I’
-
A = Y ’ (1 ’ — N’ -)(I’ — K ’•) — N ’ (— I’ — K ’ -)Y ’ - — — N’ )
r 6 z r x p 6 xz r p 6 r xz p
r r
Y~ (I ’ Y’
p + N’iS K’r ~p
B = — N’ ’)K’ YiS’ N’(I’ K’ -) N’ (— I’ —
K’ r-)Y’
6
— — — —
z r p r x X
r r ~‘ r ~ r
+ Y’ (— I’ — K’ •)N’ + Y’ K ’(— I’ — N ’ -) -
xz r p 6 r xZ p
r
C. = Y ’ (I ’ — N ’ - ) K ’ + Y ’ N ’K ’ — N’ (— I’ — K’ -) Y ’ -f- N ’ K’ Y’
6 ’’ 6 xz
—
-• 6 z r 4’ r 4 ’
r r r
~
+ K~~ Y’ •N~ — K~~ (m ’ — Y’)N ’ — N (; Y ;K ( + (in ’ —
YpN K;
r ~ ~ ~ ~r
K’•)N ’
+ K ’ (I’ N ’ K ’ Y ’ + Y ’ (— I’
6 K’N’
— N ’-)Y’ — — Y’
xz r 4’
—
z r 4’ r6 p 6
r 11’
r
Y
c; K;N ;
-
-
N 2
6 s ’(A s ’ + B s ’ ~~~~~
L = 4’ 4’
6 A A
R L t L
whe r e
B— 3
- -
A K ’ (m ’ — Y’ • ) ( 1’ — N ’- ) — Y’ N’ . ( 1’ — K ’ -) + N ’ K’ -Y
5 v z r 6 V ~ r
XZ
~r v r
~.
r r
— K ’ N ’ Y ’- + Y ’ K ’~~(I ’ - N ’- ) -- N’ (i n ’ — Y ’ -) ( - I’ — K ’ -)
6 V r 6 v z r v xz r -
r r r
B = — K ’ (m ’ — Y’ ) N ’ — K ’ Y ’( I’ — N ’) + Y’ N’ y Kr’ — Y ’ N’(— I’ K’ .)
r 6
—
4’ 6 v r iS v Z A v xz r
r r r r
— N~’ K ’.(m ’ — Y ’) + N’ K ’Y ’ + K ’ N ’ (m ’ — Y ’) - K ’ N ’Y ’ — Y ’ K ’ -N ’
v r 6 v r 6 v r ~r v r 6 yr
r r r r
+ Y ’ K ’ (I ’ — N ’ - ) + N ’ (in ’ — Y ’ )K ’ + N’ Y ’ ( — I’ — K ’ -)
6 v z r 6 v r 6 v xz r -
r r r
C = K ’ Y y’N’
r + Y ’ N y’ Kr ’ — N ’ K ’ (m ’ — Y ’ ) + K ,’ N ’ (rn ’ — Y ’) — Y ’ K ’N ’
~ 6 6 6 v r ~r r 6 yr
r r r r
— N ’~ Y y’K’
r -
~r
The yaw t r a n s f e r f u n c t i o n is
,2
A~ s ’~ + B s ~~~~~~~~~~~~~
=
R Lat Lat
where
+ Y N I (I - K ’ -) - - K (m - Y ’ ) ( - 1’ - N’ )
~ r ~r ~
-
~~~~~~~~~ ~r ~
B = — N ’ (m ’ — Y’ )K ’ — N ’ Y ’( I ’ — K’) + K’ N ’ Y ’ + K ’ N ’Y ’
4’ 0 V 6 X 5 vp 6 p
r ~ r~~’ r r~~
B—4
C = - N’ (in ’ — Y’ - ) K ’ + N’6 Y ’ K’ + K’ N ’ -Y’ + K’ N’ y ’ + Y’ K’ N’
V
4’ r”l ) 6 V4) 6 6 v4 ’
r r ”~ ’ r
+ Y ’ K’N’ Y’ N’ -K’ Y’ N ’K’) N’ K ’ •Y’ N’6 K’Y ’ + K’
-
iS hh j) 6
—
iS V
—
6
—
(in ’ — Y’ - ) N ’
r r ~~4’ r ~ r v4’ r ’’ 6 V
4’
~~~ r
-
K’6 Y ’ N’ -
r ~
8—5
• INITIAL DISTRIBUTION LIST
• NCSL REPORT 287—76
,
~ ~1~’
_ _ _ _ _ _ _ _ _ _ - ~~~~~~~~~~
_ _ _ _
- - -
-— - - • -
~~~~~~~~~ • ~~~~~~~~~~~~~~~~~ ~~~~~~~~~
-