Aircraft Equations of Motion - 1

Robert Stengel, Aircraft Flight Dynamics,

MAE 331, 2012
6 degrees of freedom
Angular kinematics
Euler angles
Rotation matrix
Angular momentum
Inertia matrix
Copyright 2012 by Robert Stengel. All rights reserved. For educational use only.
http://www.princeton.edu/~stengel/MAE331.html
http://www.princeton.edu/~stengel/FlightDynamics.html
Lockheed F-104
Nonlinear equations of motion
Compute exact ight paths and
motions
Simulate ight motions
Optimize ight paths
Predict performance
Provide basis for approximate
solutions
Linear equations of motion
Simplify computation of
ight paths and solutions
Dene modes of motion
Provide basis for control
system design and ying
qualities analysis
What Use are the Equations of Motion?
dx(t )
dt
= f x(t ), u(t ), w(t ), p(t ), t [ ]
dx(t )
dt
= Fx(t ) + Gu(t ) + Lw(t )
Translational Position
Cartesian Frames of Reference
Two reference frames of interest
I: Inertial frame (xed to inertial space)
B: Body frame (xed to body)
Common convention (z up) Aircraft convention (z down)
Translation
Relative linear positions of origins
Rotation
Orientation of the body frame with
respect to the inertial frame
Measurement of Position in
Alternative Frames - 1
Two reference frames of interest
I: Inertial frame (xed to inertial
space)
B: Body frame (xed to body)
Differences in frame orientations must
be taken into account in adding vector
components
r =
x
y
z
!
"
#
#
#
$
%
&
&
&
r
particle
= r
origin
+ 'r
w.r.t . origin
Inertial-axis view
Body-axis view
Euler Angles Measure the Orientation of
One Frame with Respect to the Other
Conventional sequence of rotations from inertial to body frame
Each rotation is about a single axis
Right-hand rule
Yaw, then pitch, then roll
These are called Euler Angles
Yaw rotation (!) about z
I
Pitch rotation (") about y
1
Roll rotation (#) about x
2

Other sequences of 3 rotations can be chosen; however,

once sequence is chosen, it must be retained
Effects of Rotation on Vector Transformation
from Inertial to Body Frame of Reference
Yaw rotation (!) about z
I
Intermediate Frame 1
Pitch rotation (") about y
1
Intermediate Frame 2
Roll rotation (#) about x
2
- Body Frame
x
y
z
!
"
#
#
#
$
%
&
&
&
1
=
cos' sin' 0
(sin' cos' 0
0 0 1
!
"
#
#
#
$
%
&
&
&
x
y
z
!
"
#
#
#
$
%
&
&
&
I
=
x
I
cos'+ y
I
sin'
(x
I
sin'+ y
I
cos'
z
I
!
"
#
#
#
$
%
&
&
&
; r
1
= H
I
1
r
I
x
y
z
!
"
#
#
#
$
%
&
&
&
2
=
cos' 0 (sin'
0 1 0
sin' 0 cos'
!
"
#
#
#
$
%
&
&
&
x
y
z
!
"
#
#
#
$
%
&
&
&
1
; r
2
= H
1
2
r
1
= H
1
2
H
I
1
!
"
$
%
r
I
= H
I
2
r
I
x
y
z
!
"
#
#
#
$
%
&
&
&
B
=
1 0 0
0 cos' sin'
0 (sin' cos'
!
"
#
#
#
$
%
&
&
&
x
y
z
!
"
#
#
#
$
%
&
&
&
2
; r
B
= H
2
B
r
2
= H
2
B
H
1
2
H
I
1
!
"
$
%
r
I
= H
I
B
r
I
The Rotation Matrix
H
I
B
(!,",#) = H
2
B
(!)H
1
2
(")H
I
1
(#)
The three-angle rotation matrix is
the product of 3 single-angle
rotation matrices:
=
1 0 0
0 cos! sin!
0 "sin! cos!
#
$
%
%
%
&
'
(
(
(
cos) 0 "sin)
0 1 0
sin) 0 cos)
#
$
%
%
%
&
'
(
(
(
cos* sin* 0
"sin* cos* 0
0 0 1
#
$
%
%
%
&
'
(
(
(
=
cos) cos* cos) sin* "sin)
"cos! sin*+sin! sin) cos* cos! cos*+sin! sin) sin* sin! cos)
sin! sin*+cos! sin) cos* "sin! cos*+cos! sin) sin* cos! cos)
#
$
%
%
%
&
'
(
(
(
also called Direction Cosine Matrix (see supplement)
Properties of the Rotation Matrix
H
I
B
(!,",#) = H
2
B
(!)H
1
2
(")H
I
1
(#)
The rotation matrix produces an orthonormal transformation
Angles are preserved
Lengths are preserved
r
I
= r
B
; s
I
= s
B
!(r
I
, s
I
) = !(r
B
, s
B
) = x deg
r s
Properties of the Rotation Matrix
Inverse relationship; interchange sub- and superscripts
Because transformation is orthonormal,
Inverse = transpose
Rotation matrix is always non-singular
r
B
= H
I
B
r
I
; r
I
= H
I
B
( )
!1
r
B
= H
B
I
r
B
H
B
I
= H
I
B
( )
!1
= H
I
B
( )
T
= H
1
I
H
2
1
H
B
2
H
B
I
H
I
B
= H
I
B
H
B
I
= I
Measurement of Position in
Alternative Frames - 2
r
particle
I
= r
origin!B
I
+ H
B
I
"r
B
Inertial-axis view
Body-axis view
r
particle
B
= r
origin!I
B
+ H
I
B
"r
I
Angular Momentum
Angular Momentum
of a Particle
Moment of linear momentum of differential
particles that make up the body
(Differential masses) x components of the
velocity that are perpendicular to the
moment arms
Cross Product: Evaluation of a determinant with unit vectors (i, j, k)
along axes, (x, y, z) and (v
x
, v
y
, v
z
) projections on to axes
r ! v =
i j k
x y z
v
x
v
y
v
z
= yv
z
" zv
y ( )i + zv
x
" xv
z
( ) j + xv
y
" yv
x ( )k
dh = r !dmv ( ) = r !v
m
( )dm
= r ! v
o
+"!r ( ) ( )
dm
! =
!
x
!
y
!
z
"
#
$
$
$
$
%
&
'
'
'
'
Cross-Product-
Equivalent Matrix

r ! v =
i j k
x y z
v
x
v
y
v
z
= yv
z
" zv
y ( )i + zv
x
" xv
z
( ) j + xv
y
" yv
x ( )k
=
yv
z
" zv
y ( )
zv
x
" xv
z
( )
xv
y
" yv
x ( )
#
$
%
%
%
%
%
&
'
(
(
(
(
(
= ! rv =
0 "z y
z 0 "x
"y x 0
#
$
%
%
%
&
'
(
(
(
v
x
v
y
v
z
#
$
%
%
%
%
&
'
(
(
(
(
Cross-product-equivalent
matrix

! r =
0 !z y
z 0 !x
!y x 0
"
#
$
$
$
%
&
'
'
'
Cross product
Angular Momentum of the Aircraft
Integrate moment of linear momentum of differential particles over the body
h = r ! v
o
+"!r ( ) ( )
dm
Body
#
= r !v ( ) $(x, y, z)dx dydz
z
min
z
max
#
y
min
y
max
#
x
min
x
max
#
=
h
x
h
y
h
z
%
&
'
'
'
'
(
)
*
*
*
*
$(x, y, z) = Density of the body

h = r ! v
o
( )dm
Bo dy
"
+ r ! # ! r ( ) ( )dm
Bo dy
"
= 0 $ r ! r ! # ( ) ( )dm
Bo dy
"
= $ r ! r ( )dm! #
Bo dy
"
% $ ! r! r ( )dm#
Bo dy
"
Choose the center of mass as the rotational center
Supermarine Spitre
Location of the Center of Mass
r
cm
=
1
m
rdm
Body
!
= r"(x, y, z)dx dydz
z
min
z
max
!
y
min
y
max
!
x
min
x
max
!
=
x
cm
y
cm
z
cm
#
$
%
%
%
&
'
(
(
(
The Inertia Matrix
The Inertia Matrix

h = ! ! r ! r " dm
Bo dy
#
= ! ! r ! r dm
Bo dy
#
" = I"
Inertia matrix derives from equal effect of
angular rate on all particles of the aircraft

I = ! ! r ! r dm
Bo dy
"
= !
0 !z y
z 0 !x
!y x 0
#
$
%
%
%
&
'
(
(
(
0 !z y
z 0 !x
!y x 0
#
$
%
%
%
&
'
(
(
(
dm
Bo dy
"
=
(y
2
+ z
2
) !xy !xz
!xy (x
2
+ z
2
) !yz
!xz !yz (x
2
+ y
2
)
#
$
%
%
%
%
&
'
(
(
(
(
dm
Bo dy
"
! =
!
x
!
y
!
z
"
#
$
$
$
$
%
&
'
'
'
'
where
Moments and
Products of Inertia
Inertia matrix
I =
(y
2
+ z
2
) !xy !xz
!xy (x
2
+ z
2
) !yz
!xz !yz (x
2
+ y
2
)
"
#
$
$
$
$
%
&
'
'
'
'
dm
Body
(
=
I
xx
!I
xy
!I
xz
!I
xy
I
yy
!I
yz
!I
xz
!I
yz
I
zz
"
#
$
$
$
$
%
&
'
'
'
'
Moments of inertia on the diagonal
Products of inertia off the diagonal
I
xx
0 0
0 I
yy
0
0 0 I
zz
!
"
#
#
#
#
$
%
&
&
&
&
If products of inertia are zero, (x, y, z)
are principal axes --->
All rigid bodies have a set of principal
axes
Ellipsoid of Inertia
!
I
xx
x
2
+ I
yy
y
2
+ I
zz
z
2
=1
Inertia Matrix of an Aircraft
with Mirror Symmetry
I =
(y
2
+ z
2
) 0 !xz
0 (x
2
+ z
2
) 0
!xz 0 (x
2
+ y
2
)
"
#
$
$
$
$
%
&
'
'
'
'
dm
Body
(
=
I
xx
0 !I
xz
0 I
yy
0
!I
xz
0 I
zz
"
#
$
$
$
$
%
&
'
'
'
'
Nose high/low product
of inertia, I
xz

North American XB-70

Nominal Configuration
Tips folded, 50% fuel, W = 38,524 lb
x
cm
@0.218 c
I
xx
=1.8!10
6
slug-ft
2
I
yy
=19.9!10
6
slug-ft
2
I
xx
= 22.1!10
6
slug-ft
2
I
xz
= "0.88!10
6
slug-ft
2
Rate of Change of
Angular Momentum
Newtons 2
nd
Law, Applied
to Rotational Motion
In inertial frame, rate of change of angular
momentum = applied moment (or torque), M

dh
dt
=
d I! ( )
dt
=
dI
dt
! + I
d!
dt
=
!
I! + I ! ! = M =
m
x
m
y
m
z
"
#
$
$
$
$
%
&
'
'
'
'
Angular
momentum and
rate vectors are
not necessarily
aligned
h = I!
Angular Momentum and Rate
Rate of Change of
Angular Momentum
How Do We Get Rid of dI/dt in the
Angular Momentum Equation?
Dynamic equation in a body-referenced frame
Inertial properties of a constant-mass, rigid body are
unchanging in a body frame of reference
... but a body-referenced frame is non-Newtonian
or non-inertial
Therefore, dynamic equation must be modied for
expression in a rotating frame

d I! ( )
dt
=
!
I! + I ! !
Chain Rule ... and in an inertial frame

!
I ! 0
Angular Momentum
Expressed in Two
Frames of Reference
Angular momentum and rate
are vectors
Expressed in either the inertial
or body frame
Two frames related algebraically
by the rotation matrix
h
B
t ( ) = H
I
B
t ( )h
I
t ( ); h
I
t ( ) = H
B
I
t ( )h
B
t ( )
!
B
t ( ) = H
I
B
t ( )!
I
t ( ); !
I
t ( ) = H
B
I
t ( )!
B
t ( )
Vector Derivative Expressed
in a Rotating Frame
Chain Rule
Consequently, the 2
nd
term is

!
h
I
= H
B
I
!
h
B
+
!
H
B
I
h
B
Effect of
body-frame rotation
Rate of change
expressed in body frame
Alternatively

!
h
I
= H
B
I
!
h
B
+ !
I
" h
I
= H
B
I
!
h
B
+ " !
I
h
I

! ! =
0 "!
z
!
y
!
z
0 "!
x
"!
y
!
x
0
#
$
%
%
%
%
&
'
(
(
(
(
... where the cross-product-
equivalent matrix of angular rate is

!
H
B
I
h
B
= " !
I
h
I
= " !
I
H
B
I
h
B
External Moment Causes
Change in Angular Rate

!
h
B
= H
I
B
!
h
I
+
!
H
I
B
h
I
= H
I
B
!
h
I
! "
B
# h
B
= H
I
B
!
h
I
! " "
B
h
B
= H
I
B
M
I
! " "
B
I
B
"
B
= M
B
! " "
B
I
B
"
B
Positive rotation of
Frame B w.r.t.
Frame A is a
negative rotation of
Frame A w.r.t.
Frame B
M
I
=
m
x
m
y
m
z
!
"
#
#
#
#
$
%
&
&
&
&
I
; M
B
= H
I
B
M
I
=
m
x
m
y
m
z
!
"
#
#
#
#
$
%
&
&
&
&
B
=
L
M
N
!
"
#
#
#
$
%
&
&
&
Moment = torque = force x moment arm
In the body frame of reference, the angular momentum change is
Rate of Change of Body-Referenced
Angular Rate due to External
Moment
For constant body-axis inertia matrix
!
h
B
= H
I
B
!
h
I
+
!
H
I
B
h
I
= H
I
B
!
h
I
! "
B
# h
B
= H
I
B
!
h
I
! " "
B
h
B
= H
I
B
M
I
! " "
B
I
B
"
B
= M
B
! " "
B
I
B
"
B
In the body frame of reference, the angular momentum change is

! !
B
= I
B
"1
M
B
" " !
B
I
B
!
B
( )
Consequently, the differential equation for angular rate of change is

!
h
B
= I
B
! !
B
= M
B
" " !
B
I
B
!
B
Next Time:
Aircraft Equations of
Motion 2

Reading
Aircraft Dynamics,
Virtual Textbook, Parts 8,9
Supplemental
Material
Direction Cosine Matrix
(also called Rotation Matrix)
H
I
B
=
cos!
11
cos!
21
cos!
31
cos!
12
cos!
22
cos!
32
cos!
13
cos!
23
cos!
33
"
#
$
$
$
%
&
'
'
'
Cosines of angles
between each I axis
and each B axis
Projections of vector
components
r
B
= H
I
B
r
I
Moments and products
of inertia tabulated for
geometric shapes with
uniform density
Moments and
Products of
Inertia
(Bedford & Fowler)
Construct aircraft
moments and products of
inertia from components
using parallel-axis
theorem
Model in Pro/ENGINEER,
etc.