Spacecraft and Aircraft Dynamics

Matthew M. Peet
Illinois Institute of Technology
Lecture 9: 6DOF Equations of Motion
Aircraft Dynamics
Lecture 9
In this Lecture we will cover:
Newtons Laws

M
i
=
d
dt

F
i
= m
d
dt
v
Rotating Frames of Reference
Equations of Motion in Body-Fixed Frame
Often Confusing
M. Peet Lecture 9: 2 / 24
Review: Coordinate Rotations
Positive Directions
If in doubt, use the right-hand rules.
Figure: Positive Directions
Figure: Positive Rotations
M. Peet Lecture 9: 3 / 24
Review: Coordinate Rotations
Roll-Pitch-Yaw
There are 3 basic rotations an aircraft can make:
Roll = Rotation about x-axis
Pitch = Rotation about y-axis
Yaw = Rotation about z-axis
Each rotation is a one-dimensional transformation.
Any two coordinate systems can be related by a sequence of 3 rotations.
M. Peet Lecture 9: 4 / 24
Review: Forces and Moments
Forces
These forces and moments have standard labels. The Forces are:
X Axial Force Net Force in the positive x-direction
Y Side Force Net Force in the positive y-direction
Z Normal Force Net Force in the positive z-direction
M. Peet Lecture 9: 5 / 24
Review: Forces and Moments
Moments
The Moments are called, intuitively:
L Rolling Moment Net Moment in the positive p-direction
M Pitching Moment Net Moment in the positive q-direction
N Yawing Moment Net Moment in the positive r-direction
M. Peet Lecture 9: 6 / 24
6DOF: Newtons Laws
Forces
Newtons Second Law tells us that for a particle F = ma. In vector form:

F =

F
i
= m
d
dt

V
That is, if

F = [F
x
F
y
F
z
] and

V = [u v w], then
F
x
= m
du
dt
F
x
= m
dv
dt
F
z
= m
dw
dt
Denition 1.

L = m

V is referred to as Linear Momentum.

Newtons Second Law is only valid if

F and

V are dened in an Inertial
coordinate system.
Denition 2.
A coordinate system is Inertial if it is not accelerating or rotating.
M. Peet Lecture 9: 7 / 24
Newtons Laws
Moments
Using Calculus, this concept can be extended to rigid bodies by integration over
all particles.

M =

M
i
=
d
dt

H
Denition 3.
Where

H =

(r
c
v
c
)dm is the angular momentum.
Angular momentum of a rigid body can be found as

H = I
I
where
I
= [p, q, r]
T
is the angular rotation vector of the body about the
center of mass.
p is rotation about the x-axis.
q is rotation about the y-axis.
r is rotation about the z-axis.

I
is dened in an Inertial Frame.
The matrix I is the Moment of Inertia Matrix.
M. Peet Lecture 9: 8 / 24
Newtons Laws
Moment of Inertia
The moment of inertia matrix is dened as
I =

I
xx
I
xy
I
xz
I
yx
I
yy
I
yz
I
zx
I
zy
I
zz

I
xy
= I
yx
=

xydm I
xx
=


y
2
+ z
2

dm
I
xz
= I
zx
=

xzdm I
yy
=


x
2
+ z
2

dm
I
yz
= I
zy
=

yzdm I
zz
=


x
2
+ y
2

dm
So

H
x
H
y
H
z

I
xx
I
xy
I
xz
I
yx
I
yy
I
yz
I
zx
I
zy
I
zz

p
I
q
I
r
I

where p
I
, q
I
and r
I
are the rotation vectors as expressed in the inertial frame
corresponding to x-y-z.
M. Peet Lecture 9: 9 / 24
Moment of Inertia
Examples:
Homogeneous Sphere
I
sphere
=
2
5
mr
2

1 0 0
0 1 0
0 0 1

Ring
I
ring
= mr
2

1
2
0 0
0
1
2
0
0 0 1

M. Peet Lecture 9: 10 / 24
Moment of Inertia
Examples:
Homogeneous Disk
I
disk
=
1
4
mr
2

1 +
1
3
h
r
2
0 0
0 1 +
1
3
h
r
2
0
0 0
1
2

F/A-18
I =

23 0 2.97
0 15.13 0
2.97 0 16.99

kslug ft
2
M. Peet Lecture 9: 11 / 24
Problem:
The Body-Fixed Frame
The moment of inertia matrix, I, is xed in the body-xed frame. However,
Newtons law only applies for an inertial frame:

M =

M
i
=
d
dt

H
If the body-xed frame is rotating with rotation vector , then for any vector, a,
d
dt
a in the inertial frame is
da
dt

I
=
da
dt

B
+ a
Specically, for Newtons Second Law

F = m
d

V
dt

B
+m

V
and

M =
d

H
dt

B
+

H
M. Peet Lecture 9: 12 / 24
Equations of Motion
Thus we have

F
x
F
y
F
z

= m

u
v
w

+ mdet

x y z
p q r
u v w

= m

u + qw rv
v + ru pw
w + pv qu

and

L
M
N

I
xx
I
xy
I
xz
I
yx
I
yy
I
yz
I
zx
I
zy
I
zz

p
q
r

I
xx
I
xy
I
xz
I
yx
I
yy
I
yz
I
zx
I
zy
I
zz

p
q
r

I
xx
p I
xy
q I
xz
r
I
xy
p + I
yy
q I
yz
r
I
xz
p I
yz
q + I
zz
r

pI
xx
qI
xy
rI
xz
pI
xy
+ qI
yy
rI
yz
pI
xz
qI
yz
+ rI
zz

I
xx
p I
xy
q I
xz
r + q(pI
xz
qI
yz
+ rI
zz
) r(pI
xy
+ qI
yy
rI
yz
)
I
xy
p + I
yy
q I
yz
r p(pI
xz
qI
yz
+ rI
zz
) + r(pI
xx
qI
xy
rI
xz
)
I
xz
p I
yz
q + I
zz
r + p(pI
xy
+ qI
yy
rI
yz
) q(pI
xx
qI
xy
rI
xz
)

Which is too much for any mortal. For aircraft, we have symmetry about the
x-z plane. Thus I
yz
= I
xy
= 0. Spacecraft?
M. Peet Lecture 9: 13 / 24
Equations of Motion
Reduced Equations
With I
xy
= I
yz
= 0, we have, in summary:

F
x
F
y
F
z

= m

u + qw rv
v + ru pw
w + pv qu

and

L
M
N

I
xx
p I
xz
r qpI
xz
+ qrI
zz
rqI
yy
I
yy
q + p
2
I
xz
prI
zz
+ rpI
xx
r
2
I
xz
I
xz
p + I
zz
r + pqI
yy
qpI
xx
+ qrI
xz

Right now,
Translational variables (u,v,w) depend on rotational variables (p,q,r).
Rotational variables (p,q,r) do not depend on translational variables
(u,v,w).

For aircraft, however, Moment forces (L,M,N) depend on rotational and

translational variables.
M. Peet Lecture 9: 14 / 24
EOMs in Rotating Frame
Example: Snipers
Question: Consider a sniper ring a rie due east at the equator. Ignoring
gravity and drag, what are the equations of motion of the bullet? Use the
North-East-Up local coordinate system. Muzzle velocity: 1000m/s. Range:
4km.
Answer: The earth is rotating about its axis at angular velocity 2
rad
day
, or
.0000727
rad
s
. The rotation is positive about the local North-axis. Thus
=

p
q
r

.0000727
0
0

Since the bullet is in free-ight, there are no forces. Thus the Equations of
motion are

0
0
0

= m

u + qw rv
v + ru pw
w + pv qu

= m

u
v pw
w + pv

M. Peet Lecture 9: 15 / 24
EOMs in Rotating Frame
Example: Snipers
Simplied EOMs: Using q = r = 0, we simplify to
u = 0 v = pw w = pv.
Solution: For initial condition u(0) = 0, v(0) = V and w(0) = 0 has solution
u(t) = 0 v(t) = v(0) cos(pt) w(t) = v(0) sin(pt)
Since p is very small compared to ight time, we can approximate
u(t) = 0 v(t) = v(0) w(t) = v(0)pt
Which yields displacement
N(t) = 0 E(t) = v(0)t U(t) =
1
2
v(0)pt
2
Conclusion: For a target at range E(t
i
) = 4km, we have t
i
= 4s and hence the
error at target is:
N(t
i
) = 0 U(t
i
) =
1
2
2000 .0000727 16 = 1.1635m
Of course, if we were ring west, the error would be +1.1635m.
M. Peet Lecture 9: 16 / 24
Euler Angles
Issue: Equations of motion are expressed in the Body-Fixed frame.
Question: How do determine rotation and velocity in the inertial frame. For
intercept, obstacle avoidance, etc.
Approach: From Lecture 4, any two coordinate systems can be related through
a sequence of three rotations. Recall these transformations are:
Roll Rotation () :
R
1
()
=

1 0 0
0 cos sin
0 sin cos

Pitch Rotation ():

R
2
()
=

cos 0 sin
0 1 0
sin 0 cos

Yaw Rotation ():

R
3
()
=

cos sin 0
sin cos 0
0 0 1

M. Peet Lecture 9: 17 / 24
Euler Angles
Denition 4.
The term Euler Angles refers to the angles of rotation (, , ) needed to go
from one coordinate system to another using the specic sequence of rotations
Yaw-Pitch-Roll:

V
BF
= R
1
()R
2
()R
3
()

V
I
.
NOTE BENE: Euler angles are often dened dierently (e.g. 3-1-3). We use
the book notation.
The composite rotation matrix can be written
R
1
()R
2
()R
3
() =

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

This moves a vector

Inertial Frame Body-Fixed Frame
M. Peet Lecture 9: 18 / 24
Euler Angles
To move a vector
Body-Fixed Frame Inertial Frame
we need to Invert the Rotations. Rotation matrices are easily inverted, however
R
i
()
1
= R
i
()
Thus

V
I
= (R
1
()R
2
()R
3
())
1

V
BF
, where
(R
1
()R
2
()R
3
())
1
= R
3
()
1
R
2
()
1
R
1
()
1
= R
3
()R
2
()R
1
()
=

cos sin 0
sin cos 0
0 0 1

cos 0 sin
0 1 0
sin 0 cos

1 0 0
0 cos sin
0 sin cos

cos cos sin sin cos cos sin cos sin cos + sin sin
cos sin sinsin sin + cos cos cos sin sin sincos
sin sin cos cos cos

These transformations now describe a Roll-Pitch-Yaw.

M. Peet Lecture 9: 19 / 24
Euler Angles
Velocity vector
Thus to nd the inertial velocity vector, we must rotate FROM the body-xed
coordinates to the inertial frame:

dx
dt
dy
dt
dz
dt

= R
3
()R
2
()R
1
()

u
v
w

M. Peet Lecture 9: 20 / 24
Euler Angles
The rate of rotation of the Euler Angles can be found by rotating the rotation
vector into the inertial frame

p
q
r

1 0 sin
0 cos cos sin
0 sin cos cos

This transformation can also be reversed as

1 sin tan cos tan

0 cos sin
0 sinsec cos sec

p
q
r

M. Peet Lecture 9: 21 / 24
Summary
M. Peet Lecture 9: 22 / 24
Conclusion
In this lecture we have covered
Equations of Motion
How to dierentiate Vectors in Rotating Frames
Derivation of the Nonlinear 6DOF Equations of Motion
Euler Angles
Denition of Euler Angles
Using Rotation Matrices to transform vectors
Derivatives of the Euler angles

Relationship to p-q-r in Body-Fixed Frame

M. Peet Lecture 9: 23 / 24
Next Lecture
In the next lecture we will cover
Linearized Equations of Motion
How to linearize the nonlinear 6DOF EOM
How to linearize the force and moment contributions
Force and Moment Contributions
The gravity and thrust contributions
The full linearized equations of motion including forces and moments
How to decouple into Longitudinal and Lateral Dynamics

Reminder on how to create a state-space representation.

M. Peet Lecture 9: 24 / 24