! ! ! " ! # $ % & & & ' ( ) ) ) = 1 sin! tan" cos! tan" 0 cos! *sin! 0 sin! sec" cos! sec" $ % & & & ' ( ) ) ) p q r $ % & & & ' ( ) ) ) = L B I + B Can the inversion become singular? What does this mean? ... which is Euler-Angle Rates and Body-Axis Rates Avoiding the Singularity at ! = 90 ! Dont use Euler angles as primary denition of angular attitude ! Alternatives to Euler angles - Direction cosine (rotation) matrix - Quaternions ! Propagation of rotation matrix (9 parameters) - From previous lecture
! H B I h B = " ! I H B I h B
! H I B t ( ) = ! " " B t ( )H I B t ( ) = ! 0 !r t ( ) q t ( ) r t ( ) 0 !p t ( ) !q t ( ) p t ( ) 0 t ( ) # $ % % % % & ' ( ( ( ( B H I B t ( ); H I B 0 ( ) = H I B ) 0 ,* 0 ,+ 0 ( ) Consequently Avoiding the Singularity at ! = 90 ! Propagation of quaternion vector o see Flight Dynamics for details e 1 e 2 e 3 e 4 ! " # # # # # $ % & & & & & = Rotation angle, rad x-component of rotation axis y-component of rotation axis z-component of rotation axis ! " # # # # # $ % & & & & & ! Quaternion vector: single rotation from inertial to body frame (4 parameters)
! e t ( ) = ! e 1 t ( ) ! e 2 t ( ) ! e 3 t ( ) ! e 4 t ( ) ! " # # # # # # $ % & & & & & & = 0 'r t ( ) 'q t ( ) 'p t ( ) r t ( ) 0 'p t ( ) q t ( ) q t ( ) p t ( ) 0 'r t ( ) p t ( ) 'q t ( ) r t ( ) 0 ! " # # # # # # $ % & & & & & & e 1 t ( ) e 2 t ( ) e 3 t ( ) e 4 t ( ) ! " # # # # # # $ % & & & & & & = Q t ( )e t ( ); e 0 ( ) = e ( 0 ,) 0 ,* 0 ( ) Rigid-Body Equations of Motion Point-Mass Dynamics Inertial rate of change of translational position Body-axis rate of change of translational velocity Identical to angular-momentum transformation
! r I = v I = H B I v B
! v I = 1 m F I ! v B = H I B ! v I ! " " B v B = 1 m H I B F I ! " " B v B = 1 m F B ! " " B v B F B = X Y Z ! " # # # $ % & & & B = C X qS C Y qS C Z qS ! " # # # $ % & & & v B = u v w ! " # # # $ % & & &
! r I t ( ) = H B I t ( ) v B t ( )
! v B t ( ) = 1 m t ( ) F B t ( ) +H I B t ( )g I ! " " B t ( )v B t ( )
! ! I t ( ) = L B I t ( )" B t ( )
! ! B t ( ) = I B "1 t ( ) M B t ( ) " " ! B t ( ) I B t ( )! B t ( ) # $ % & Rate of change of Translational Position Rate of change of Angular Position Rate of change of Translational Velocity Rate of change of Angular Velocity r I = x y z ! " # # # $ % & & & I ! I = " # $ % & ' ' ' ( ) * * * I v B = u v w ! " # # # $ % & & & B ! B = p q r " # $ $ $ % & ' ' ' B Translational Position Angular Position Translational Velocity Angular Velocity Rigid-Body Equations of Motion (Euler Angles) Aircraft Characteristics Expressed in Body Frame of Reference I B = I xx !I xy !I xz !I xy I yy !I yz !I xz !I yz I zz " # $ $ $ $ % & ' ' ' ' B F B = X aero + X thrust Y aero +Y thrust Z aero + Z thrust ! " # # # $ % & & & B = C Xaero + C Xthrust C Yaero + C Ythrust C Zaero + C Zthrust ! " # # # # $ % & & & & B 1 2 'V 2 S = C X C Y C Z ! " # # # $ % & & & B q S Aerodynamic and thrust force Aerodynamic and thrust moment Inertia matrix Reference Lengths b = wing span c = mean aerodynamic chord M B = L aero + L thrust M aero + M thrust N aero + N thrust ! " # # # $ % & & & B = C laero + C lthrust ( )b C maero + C mthrust ( )c C naero + C nthrust ( )b ! " # # # # # $ % & & & & & B 1 2 'V 2 S = C l b C m c C n b ! " # # # $ % & & & B q S Rigid-Body Equations of Motion: Position
! ! = p + qsin! + r cos! ( ) tan" ! " = qcos! # r sin! ! $ = qsin! + r cos! ( )sec" Rate of change of Translational Position Rate of change of Angular Position Rigid-Body Equations of Motion: Rate
! u = X / m! gsin" +rv !qw ! v =Y / m+ gsin# cos" !ru + pw ! w = Z / m+ gcos# cos" +qu ! pv
! p = I zz L+ I xz N ! I xz I yy ! I xx ! I zz ( ) p+ I xz 2 + I zz I zz ! I yy ( ) " # $ % r { } q ( ) I xx I zz ! I xz 2 ( ) ! q = 1 I yy M ! I xx ! I zz ( ) pr ! I xz p 2 !r 2 ( ) " # $ % ! r = I xz L+ I xx N ! I xz I yy ! I xx ! I zz ( ) r + I xz 2 + I xx I xx ! I yy ( ) " # $ % p { } q ( ) I xx I zz ! I xz 2 ( ) Rate of change of Translational Velocity Rate of change of Angular Velocity Mirror symmetry, I xz " 0 FLIGHT - Computer Program to Solve the 6-DOF Equations of Motion http://www.princeton.edu/~stengel/FlightDynamics.html FLIGHT - MATLAB Program http://www.princeton.edu/~stengel/FlightDynamics.html FLIGHT - MATLAB Program Examples from FLIGHT Longitudinal Transient Response to Initial Pitch Rate Bizjet, M = 0.3, Altitude = 3,052 m For a symmetric aircraft, longitudinal perturbations do not induce lateral- directional motions Transient Response to Initial Roll Rate Lateral-Directional Response Longitudinal Response Bizjet, M = 0.3, Altitude = 3,052 m For a symmetric aircraft, lateral- directional perturbations do induce longitudinal motions Transient Response to Initial Yaw Rate Lateral-Directional Response Longitudinal Response Bizjet, M = 0.3, Altitude = 3,052 m Crossplot of Transient Response to Initial Yaw Rate Bizjet, M = 0.3, Altitude = 3,052 m Longitudinal-Lateral-Directional Coupling Alternative Reference Frames Velocity Orientation in an Inertial Frame of Reference Polar Coordinates Projected on a Sphere Body Orientation with Respect to an Inertial Frame Relationship of Inertial Axes to Body Axes Transformation is independent of velocity vector Represented by Euler angles Rotation matrix v x v y v z ! " # # # # $ % & & & & = H B I u v w ! " # # # $ % & & & u v w ! " # # # $ % & & & = H I B v x v y v z ! " # # # # $ % & & & & Velocity-Vector Components of an Aircraft V, !, " V, !, " Velocity Orientation with Respect to the Body Frame Polar Coordinates Projected on a Sphere No reference to the body frame Bank angle, $, is roll angle about the velocity vector V ! " # $ % % % & ' ( ( ( = v x 2 + v y 2 + v z 2 sin )1 v y / v x 2 + v y 2 ( ) 1/ 2 # $ & ' sin )1 )v z / V ( ) # $ % % % % % & ' ( ( ( ( ( v x v y v z ! " # # # # $ % & & & & I = V cos' cos( V cos' sin( )V sin' ! " # # # $ % & & & Relationship of Inertial Axes to Velocity Axes Relationship of Body Axes to Wind Axes No reference to the inertial frame u v w ! " # # # $ % & & & = V cos' cos( V sin( V sin' cos( ! " # # # $ % & & & V ! " # $ % % % & ' ( ( ( = u 2 + v 2 + w 2 sin )1 v / V ( ) tan )1 w / u ( ) # $ % % % % & ' ( ( ( ( Angles Projected on the Unit Sphere ! " : angle of attack # : sideslip angle $ : vertical flight path angle % : horizontal flight path angle & : yaw angle ' : pitch angle ( : roll angle (about body x ) axis) : bank angle (about velocity vector) Origin is airplanes center of mass Alternative Frames of Reference Orthonormal transformations connect all reference frames Next Time: Linearization and Modes of Motion
Reading Flight Dynamics, 234-242, 255-266, 274-297, 321-330 Virtual Textbook, Part 10 Supplemental Material
! r I = H B I v B
! v B = 1 m F B + H I B g I ! " " B v B
! ! B = I B "1 M B " " ! B I B ! B ( ) Rate of change of Translational Position Rate of change of Rotation Matrix Rate of change of Translational Velocity Rate of change of Angular Velocity r I = x y z ! " # # # $ % & & & I ! I = fcn H I B ( ) v B = u v w ! " # # # $ % & & & B ! B = p q r " # $ $ $ % & ' ' ' B Translational Position Angular Position Translational Velocity Angular Velocity Rigid-Body Equations of Motion (Attitude from Rotation Matrix)
! H I B = ! " " B H I B
! r I = H B I v B
! v B = 1 m F B + H I B g I ! " " B v B
! ! B = I B "1 M B " " ! B I B ! B ( ) Rate of change of Translational Position Rate of change of Rotation Matrix Rate of change of Translational Velocity Rate of change of Angular Velocity r I = x y z ! " # # # $ % & & & I ! I = fcn H I B e ( ) " # $ % v B = u v w ! " # # # $ % & & & B ! B = p q r " # $ $ $ % & ' ' ' B Translational Position Angular Position Translational Velocity Angular Velocity Rigid-Body Equations of Motion (Attitude from Quaternion Vector)