Advanced Problems of Lateral-

Directional Dynamics
Robert Stengel, Aircraft Flight Dynamics
MAE 331, 2012
Fourth-order dynamics
Steady-state response to control
Transfer functions
Frequency response
Root locus analysis of parameter
variations
Residualization
Roll-spiral oscillation
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
Stability-Axis Lateral-Directional
Equations

!! r(t )
!
!
"(t )
!! p(t )
!
!
#(t )
$
%
&
&
&
&
&
'
(
)
)
)
)
)
=
N
r
N
"
N
p
0
*1
Y
"
V
N
0
g
V
N
L
r
L
"
L
p
0
0 0 1 0
$
%
&
&
&
&
&
&
&
'
(
)
)
)
)
)
)
)
!r(t )
!"(t )
!p(t )
!#(t )
$
%
&
&
&
&
&
'
(
)
)
)
)
)
+
~ 0 N
+R
0
0 0
Y
+SF
V
N
L
+A
~ 0 0
0 0 0
$
%
&
&
&
&
&
&
'
(
)
)
)
)
)
)
!+A
!+R
!+SF
$
%
&
&
&
'
(
)
)
)
!x
1
!x
2
!x
3
!x
4
"
#
$
$
$
$
$
%
&
'
'
'
'
'
=
!r
!(
!p
!)
"
#
$
$
$
$
$
%
&
'
'
'
'
'
=
Yaw Rate Perturbation
Sideslip Angle Perturbation
Roll Rate Perturbation
Roll Angle Perturbation
"
#
$
$
$
$
$
%
&
'
'
'
'
'
!u
1
!u
2
"
#
$
$
%
&
'
'
=
!(A
!(R
"
#
$
%
&
'
=
Aileron Perturbation
Rudder Perturbation
"
#
$
$
%
&
'
'
With idealized aileron and rudder effects (i.e., N
!A
= L
!R
= 0)

Lateral-Directional
Characteristic Equation
!
LD
(s) = s " #
S
( ) s " #
R
( ) s
2
+ 2$%
n
s +%
n
2
( )
DR
Typically factors into real spiral and roll roots
and an oscillatory pair of Dutch roll roots

!
LD
(s) = s
4
+ L
p
+ N
r
+
Y
"
V
N
#
$
%
&
'
(
s
3
+ N
"
) L
r
N
p
+ L
p
Y
"
V
N
+ N
r
Y
"
V
N
+ L
p
#
$
%
&
'
(
*
+
,
-
.
/
s
2
+
Y
"
V
N
L
r
N
p
) L
p
N
r
( )
+ L
"
N
p
)
g
V
N
( )
*
+
,
-
.
/
s
+
g
V
N
L
"
N
r
) L
r
N
"
( )
= s
4
+ a
3
s
3
+ a
2
s
2
+ a
1
s + a
0
= 0
Business Jet Example of
Lateral-Directional
Characteristic Equation
!
LD
(s) = s " 0.00883 ( ) s +1.2 ( ) s
2
+ 2 0.08 ( ) 1.39 ( ) s +1.39
2
#
$
%
&
Slightly
unstable Spiral
Stable
Roll
Lightly damped
Dutch roll
Dutch roll
Spiral
Dutch roll
Roll
Steady-State Response
!x
S
= "F
"1
G!u
S
Equilibrium Response of
2
nd
-Order Dutch Roll Model
!r
SS
!"
SS
#
$
%
%
&
'
(
(
= )
Y
"
V
N
)N
"
1 N
r
#
$
%
%
%
&
'
(
(
(
Y
"
V
N
N
r
+ N
"
*
+
,
-
.
/
N
0R
0
#
$
%
%
&
'
(
(
!0R
SS
!r
S
= "
Y
#
V
N
N
$R
%
&
'
(
)
*
Y
#
V
N
N
r
+ N
#
%
&
'
(
)
*
!$R
S
!#
S
= "
N
$R
Y
#
V
N
N
r
+ N
#
%
&
'
(
)
*
!$R
S
Equilibrium response to constant rudder
Steady yaw rate and sideslip
angle are not zero
What is the corresponding
ground track of the aircraft
[y(t) vs. x(t)]?
Equilibrium Response of
Roll-Spiral Model
!p
S
= "
L
#A
L
p
!#A
S
!$(t )
S
= "
L
#A
L
p
!#A
S
dt
0
t
%
!p
SS
!"
SS
#
$
%
%
&
'
(
(
= )
L
p
0
1 0
#
$
%
%
&
'
(
(
)1
L
* A
0
#
$
%
%
&
'
(
(
!*A
SS
L
p
0
1 0
!
"
#
#
$
%
&
&
'1
=
0 0
'1 L
p
!
"
#
#
$
%
&
&
0
but
Steady roll rate
proportional to aileron
Roll angle, integral of roll
rate, continually increases
Equilibrium state with constant aileron
!p
S
= "L
p
"1
L
#A
!#A
S
taken
alone
Equilibrium Response of
4
th
-Order Model
Equilibrium state with constant aileron, rudder,
and side-force panel deection
!r
S
!"
S
!p
S
!#
S
$
%
&
&
&
&
&
'
(
)
)
)
)
)
= *
N
r
N
"
N
p
0
*1
Y
"
V
N
0
g
V
N
L
r
L
"
L
p
0
0 0 1 0
$
%
&
&
&
&
&
&
&
'
(
)
)
)
)
)
)
)
*1
~ 0 N
+R
0
0 0
Y
+SF
V
N
L
+A
~ 0 0
0 0 0
$
%
&
&
&
&
&
&
'
(
)
)
)
)
)
)
!+A
S
!+R
S
!+SF
S
$
%
&
&
&
'
(
)
)
)
Equilibrium Response of the 4
th
-Order
Lateral-Directional Model
!y
S
= H
x
!x
S
= "H
x
F
"1
G!u
S
With H
x
=
Identity matrix

Observations
Steady-state roll rate is zero
Aileron and rudder commands produce steady-state yaw rate, sideslip angle, and roll
angle
Side force command produces steady-state roll angle but has no effect on steady-state
yaw rate or sideslip angle
!r
S
!"
S
!p
S
!#
S
$
%
&
&
&
&
&
'
(
)
)
)
)
)
=
g
V
N
L
*A
N
"
+
g
V
N
L
"
N
*R
0
g
V
N
L
*A
N
r
g
V
N
L
r
N
*R
0
0 0 0
N
"
+ N
r
Y
"
V
N
,
-
.
/
0
1L
*A
+ L
"
+ L
r
Y
"
V
N
,
-
.
/
0
1N
*R
L
r
N
"
+ L
"
N
r ( )
Y
*SF
V
N
$
%
&
&
&
&
&
&
&
&
&
'
(
)
)
)
)
)
)
)
)
)
g
V
N
L
"
N
r
+ L
r
N
" ( )
!*A
S
!*R
S
!*SF
S
$
%
&
&
&
'
(
)
)
)
Stability and
Transient Response
4
th
-Order Initial-Condition
Responses of Business Jet
Initial roll angle and rate have little effect on yaw rate
and sideslip angle responses
Initial yaw rate and sideslip angle have large effect on
roll rate and roll angle responses
Initial
yaw rate
Initial
sideslip angle
Initial
roll rate
Initial
roll angle
Effects of Variation
in Primary Stability
Derivatives
N
"
Effect on 4
th
-Order
Roots
Group !(s) terms multiplied by N
"
to form
numerator
Denominator formed from remaining
terms of !(s)
!
LD
(s) = d(s) + N
"
n(s) = 0
kn(s)
d(s)
= #1 =
N
"
s # z
1
( ) s # z
2
( )
s # $
1
( ) s # $
2
( ) s
2
+ 2%&
n
s +&
n
2
( )
N
!
> 0
N
!
< 0
Positive N
#

Increases Dutch roll natural frequency
Damping ratio decreases but remains
stable
Spiral mode drawn toward origin
Roll mode unchanged
Negative N
"
destabilizes Dutch roll mode
Root Locus Gain = Directional Stability
Roll Spiral
Dutch Roll
Dutch Roll
Zero
Zero
N
r
Effect on 4
th
-Order
Roots
!
LD
(s) = d(s) + N
r
n(s) = 0
kn(s)
d(s)
= "1 =
N
r
s " z
1
( ) s
2
+ 2#
n
s +#
n
2
( )
s " $
1
( ) s " $
2
( ) s
2
+ 2%&
n
s +&
n
2
( )
Negative N
r

Increases Dutch roll damping
Draws spiral and roll modes together
drawn toward origin
Positive N
r
destabilizes Dutch roll mode
N
r
< 0
N
r
> 0
Root Locus Gain = Yaw Damping
Roll Spiral
Zero
Dutch Roll
Dutch Roll
Zero
Zero
L
p
Effect on 4
th
-Order
Roots
!
LD
(s) = d(s) + L
p
n(s) = 0
kn(s)
d(s)
= "1 =
L
p
s s
2
+ 2#
n
s +#
n
2
( )
s " $
1
( ) s " $
2
( ) s
2
+ 2%&
n
s +&
n
2
( )
L
p
< 0 L
p
> 0
Negative L
p

Decreases roll mode time constant
Draws spiral and roll modes together
drawn toward origin
Positive L
p
destabilizes roll mode
L
p
has negligible effect on spiral mode
Normally negative; however, can
become positive at high angle of
attack
Root Locus Gain = Roll Damping
Roll Spiral Zero
Dutch Roll & Zero
Dutch Roll & Zero
Coupling Stability Derivatives
and Their Effects
Dihedral Effect: Roll Acceleration
Sensitivity to Sideslip Angle, L
"
L
!
" C
l
!
#V
2
2I
xx
$
%
&
'
(
)Sb
C
l
!
" C
l
!
( )
Wing
+ C
l
!
( )
Wing#Fuselage
+ C
l
!
( )
Vertical Tail
Wing, wing-fuselage interference, and vertical tail are
principal contributors
Typically < 0 for stability
Dihedral Effect: Roll Acceleration
Sensitivity to Sideslip Angle, L
"

L
!
" C
l
!
#V
2
2I
xx
$
%
&
'
(
)
Sb
Dihedral and sweep effect
C
l
!
( )
Wing
=
1+ 2"
6 1+ " ( )
#C
L
$wing
+
C
L
tan%
1& M
2
cos
2
%
'
(
)
*
+
,
Tapered, trapezoidal, swept wing
Wing and Tail Location Effects on L
"
High/low wing effect
C
l!
( )
Wing"Fuselage
= 1.2 AR
z
Wing
h + w ( )
b
2
C
l!
( )
Vertical Tail
"
z
vt
b
C
Y!
( )
Vertical Tail
Vertical tail effect
L
"
Effect on 4
th
-Order Roots
Negative L
"

Stabilizes spiral and roll modes
but ...
Destabilizes Dutch roll mode
Positive L
"
does the opposite
Root Locus Gain = Dihedral Effect
!
LD
(s) = d(s) + L
"
g
V
N
# N
p ( )
n(s) = 0
n(s)
d(s)
= #1 =
L
"
g
V
N
# N
p ( )
s # z
1
( )
s # $
S
( ) s # $
R
( ) s
2
+ 2%&
n
DR
s +&
n
DR
2
( )
L
!!!
< 0
L
!
> 0
Bizjet Example
!
LD
(s) =
s " 0.00883 ( ) s +1.2 ( ) s
2
+ 2 0.08 ( ) 1.39 ( ) s +1.39
2
#
$
%
&
Roll Spiral Zero
Dutch Roll
Dutch Roll
Stabilizing Lateral-
Directional Motions
Provide sufcient L
"
() to stabilize the spiral mode
Provide sufcient N
r
() to damp the Dutch roll mode
How can L
"
and N
r
be adjusted articially,
i.e., by closed-loop control?
Original Root Locus
Increased |Nr|
Solar Impulse
Fourth-Order
Frequency Response
Yaw Rate and Sideslip Angle Frequency
Responses of Business Jet
2
nd
-Order Response
to Rudder
Yawing response to aileron is not negligible
Yaw rate response is poorly characterized by the 2
nd
-order model below the
Dutch roll natural frequency
Sideslip angle response is adequately characterized by the 2
nd
-order model
4
th
-Order Response to
Aileron and Rudder
!r j" ( )
!#A j" ( )
!" j# ( )
!$A j# ( )
!r j" ( )
!#R j" ( )
!" j# ( )
!$R j# ( )
!r j" ( )
!#R j" ( )
!" j# ( )
!$R j# ( )
Roll Rate and Roll Angle Frequency
Responses of Business Jet
2
nd
-Order Response
to Aileron
Roll response to rudder is not negligible
Roll rate response is marginally well characterized by the 2
nd
-order model
Roll angle response is poorly characterized at low frequency by the 2
nd
-
order model
!p j" ( )
!#R j" ( )
!" j# ( )
!$R j# ( )
!p j" ( )
!#A j" ( )
!" j# ( )
!$A j# ( )
!p j" ( )
!#A j" ( )
!" j# ( )
!$A j# ( )
4
th
-Order Response to
Aileron and Rudder
Frequency and Step
Responses to Aileron Input
Roll rate response is relatively benign
Ratio of roll angle to sideslip response
is important to the pilot
Yaw/sideslip sensitivity in the vicinity
of the Dutch roll natural frequency
!r j" ( )
!#A j" ( )
!" j# ( )
!$A j# ( )
!p j" ( )
!#A j" ( )
!" j# ( )
!$A j# ( )
!v t ( )
!y t ( )
!r t ( )
!p t ( )
!" t ( )
!" t ( )
Frequency and Step Responses
to Rudder Input
Lightly damped yaw/sideslip response
would be hard to control precisely
Yaw response variability near and below
the Dutch roll natural frequency
Signicant roll rate response near the
Dutch roll natural frequency
!r j" ( )
!#R j" ( )
!" j# ( )
!$R j# ( )
!p j" ( )
!#R j" ( )
!" j# ( )
!$R j# ( )
!v t ( ) !y t ( )
!r t ( )
!p t ( )
!" t ( )
!" t ( )
Order Reduction
by Residualization
Approximate Low-
Order Response
Dynamic model order can be reduced
when
One mode is stable and well-damped,
and it and is faster than the other
The two modes are coupled

!! x
fast
!! x
slow
"
#
$
$
%
&
'
'
=
F
fast
F
slow
fast
F
fast
slow
F
slow
"
#
$
$
%
&
'
'
!x
fast
!x
slow
"
#
$
$
%
&
'
'
+
G
fast
G
slow
"
#
$
$
%
&
'
'
!u

!! x
f
= F
f
!x
f
+ F
s
f
!x
s
+ G
f
!u
!! x
s
= F
f
s
!x
f
+ F
s
!x
s
+ G
s
!u
or
Residualization Provides an
Approximation for Low-Order Dynamics
Assume that fast mode reaches steady state on a time scale that
is short compared to the slow mode

!! x
f
" 0 " F
f
!x
f
+F
s
f
!x
s
+G
f
!u
!! x
s
= F
f
s
!x
f
+F
s
!x
s
+G
s
!u
Algebraic solution for !x
fast

0 ! F
f
"x
f
+F
s
f
"x
s
+G
f
"u
F
f
"x
f
= #F
s
f
"x
s
#G
f
"u
!x
f
= "F
f
"1
F
s
f
!x
s
+G
f
!u
( )
Substitute quasi-steady !x
fast
in differential equation for !x
slow


!! x
s
= "F
f
s
F
f
"1
F
s
f
!x
s
+ G
f
!u ( )
#
$
%
&
+ F
s
!x
s
+ G
s
!u
= F
s
" F
f
s
F
f
"1
F
s
f
#
$
%
&
!x
s
+ G
s
" F
f
s
F
f
"1 "1
G
f
#
$
%
&
!u
Residualized equation for !x
slow


!! x
s
= F'
s
!x
s
+ G'
s
!u
F'
s
= F
s
! F
f
s
F
f
!1
F
s
f
"
#
$
%
G'
s
= G
s
! F
f
s
F
f
!1
G
f
"
#
$
%
where
Residualization
Residualized Roll-Spiral Mode
Assume that the Dutch roll mode is stable
and faster than the roll mode
Calculate effect of the quasi-steady Dutch
roll on the roll and spiral modes

!! x
DR
!! x
RS
"
#
$
$
%
&
'
'
(
0
!! x
RS
"
#
$
$
%
&
'
'
=
F
DR
F
RS
DR
F
DR
RS
F
RS
"
#
$
$
%
&
'
'
!x
DR
!x
RS
"
#
$
$
%
&
'
'
+
G
DR
G
RS
"
#
$
$
%
&
'
'
!)A
!)R
"
#
$
%
&
'
"
#
$
$
%
&
'
'
Residualized Roll-Spiral Mode
Assume that the Dutch roll mode is stable and
faster than the roll mode
Calculate effect of the quasi-steady Dutch roll
on the roll and spiral modes
!x
DR
= "F
DR
"1
F
RS
DR
!x
RS
+ G
DR
!#A
!#R
$
%
&
'
(
)
*
+
,
-
,
.
/
,
0
,

!! x
RS
= F
RS
!x
RS
" F
DR
RS
F
DR
"1
F
RS
DR
!x
RS
+ G
DR
!#A
!#R
$
%
&
'
(
)
*
+
,
-
,
.
/
,
0
,
+ G
RS
!#A
!#R
$
%
&
'
(
)
= F'
RS
!x
RS
+ G'
RS
!#A
!#R
$
%
&
'
(
)
Model of the Residualized
Roll-Spiral Mode
2
nd
-order approximation for roll and spiral modes

!! p
!
!
"
#
$
%
%
&
'
(
(
=
L
p
0
1 0
#
$
%
%
&
'
(
(
!p
!"
#
$
%
%
&
'
(
(
)
L
r
L
*
0 0
#
$
%
%
&
'
(
(
N
r
N
*
)1
Y
*
V
N
#
$
%
%
%
%
&
'
(
(
(
(
)1
N
p
0
0
g
V
N
#
$
%
%
%
%
&
'
(
(
(
(
!p
!"
#
$
%
%
&
'
(
(
+
N
+ A
N
+ R
0
Y
+ R
V
N
#
$
%
%
%
&
'
(
(
(
!+A
!+R
#
$
%
&
'
(
,
-
.
.
/
.
.
0
1
.
.
2
.
.
+
L
+ A
L
+ R
0 0
#
$
%
%
&
'
(
(
!+A
!+R
#
$
%
&
'
(

!! p
!
!
"
#
$
%
%
&
'
(
(
=
L
p
)
N
p
L
r
Y
*
V
N
+ L
*
+
,
-
.
/
0
N
*
+ N
r
Y
*
V
N
+
,
-
.
/
0
#
$
%
%
%
%
&
'
(
(
(
(
g
V
N
L
r
N
*
) L
*
N
r ( )
N
*
+ N
r
Y
*
V
N
+
,
-
.
/
0
#
$
%
%
%
%
&
'
(
(
(
(
1 0
#
$
%
%
%
%
%
%
&
'
(
(
(
(
(
(
!p
!"
#
$
%
%
&
'
(
(
+"
=
f
11
f
12
1 0
#
$
%
%
&
'
(
(
!p
!"
#
$
%
%
&
'
(
(
+"
Roots of the Residualized
Roll-Spiral Mode
sI ! F'
RS
= s
1 0
0 1
"
#
$
%
&
'
!
f
11
f
12
1 0
"
#
$
$
%
&
'
'
= (
RSres
= s
2
! L
p
! N
p
L
)
+ L
r
Y
)
/ V
N
N
)
+ N
r
Y
)
/ V
N
*
+
,
-
.
/
"
#
$
$
%
&
'
'
s +
g
V
N
L
)
N
r
! L
r
N
)
N
)
+ N
r
Y
)
/ V
N
*
+
,
-
.
/
= s ! 0
S
( ) s ! 0
R
( ) or s
2
+ 212
n
s + 2
n
2
( )
RS
= 0
For the business jet model
!
RS
res
= s
2
+1.0894s " 0.0108 = 0
= s " 0.0098 ( ) s +1.1 ( ) = s " #
S
( ) s " #
R
( )
Slightly unstable spiral mode
Similar to 4
th
-order roll-spiral results
!
LD
(s) = s " 0.00883 ( ) s +1.2 ( ) s
2
+ 2 0.08 ( ) 1.39 ( ) s +1.39
2
#
$
%
&
Oscillatory Roll-Spiral Mode
!
RS
res
= s " #
S
( ) s " #
R
( ) or s
2
+ 2$%
n
s +%
n
2
( )
RS
The characteristic equation factors into
real or complex roots
Real roots are roll mode and spiral mode when
L
!
N
r
> L
r
N
!
and
N
p
L
!
+ L
r
Y
!
/ V
N ( )
2
g
V
N
L
!
N
r
" L
r
N
! ( )
#
$
%
&
'
( <1
L
!
N
r
< L
r
N
!
Complex roots produce roll-spiral oscillation
or lateral phugoid mode when

Roll-Spiral Oscillation of a
Lifting Reentry Vehicle
Next Time:
Flying Qualities Criteria

Reading
Aircraft Stability and Control, Ch. 21
Virtual Textbook, Part 20
Supplemental
Material
Equilibrium Response of
4
th
-Order Model
Equilibrium state with constant aileron and
spiral wind perturbations
!r
SS
!"
SS
!p
SS
!#
SS
$
%
&
&
&
&
&
'
(
)
)
)
)
)
=
a b 0
c d 0
0 0 0
e f g
$
%
&
&
&
&
'
(
)
)
)
)
!*A
SS
!*R
SS
!*SF
SS
$
%
&
&
&
'
(
)
)
)
Observations
Aileron command
Rudder command
Side-force panel command
Steady-state roll rate is zero
Steady-state roll angle is bounded

Effects of Variation
in Secondary
Stability Derivatives
Roll Acceleration
Due to Yaw Rate, L
r

L
r
! C
lr
"V
N
2
2I
xx
#
$
%
&
'
(Sb
= C
l r
b
2V
N
#
$
%
&
'
(
"V
N
2
2I
xx
#
$
%
&
'
(Sb = C
l r
"V
N
4I
xx
#
$
%
&
'
(Sb
2
Wing is the principal contributor
Differential lift induced by yaw rate
C
l r
( )
Wing
=
! "C
l
( )
Wing
! r
= #
C
L
$
12
1+ 3%
1+%
&
'
(
)
*
+
M
2
cos
2
, #2
M
2
cos
2
, #1
&
'
(
)
*
+
Thin triangular wing
C
l r
( )
Wing
=
!"
N
9AR
Vertical tail
C
l r
( )
Vertical Tail
=
z
vt
l
vt
C
n r
( )
Vertical Tail
L
r
Effect on 4
th
-Order
Roots
!
LD
(s) = d(s) + L
r
N
p
n(s) = 0
kn(s)
d(s)
= "1 =
L
r
N
p
s " z
1
( ) s " z
2
( )
s " #
1
( ) s " #
2
( ) s
2
+ 2$%
n
s +%
n
2
( )
L
r
< 0 L
r
> 0
Effect depends on the sign of N
p

(negative here)
Similar to N
"
effect on the Dutch
roll, but opposite to its effect on
the spiral mode
Root Locus Gain = Roll Due to Yaw Rate
Yaw Acceleration
Due to Roll Rate, N
p
N
p
! C
np
"V
N
2
2I
zz
#
$
%
&
'
(
Sb
= C
n p
b
2V
N
#
$
%
&
'
(
"V
N
2
2I
zz
#
$
%
&
'
(
Sb = C
n p
"V
N
4I
xx
#
$
%
&
'
(
Sb
2
Wing is the principal contributor
Differential yaw moment induced by roll rate
C
n p
( )
Wing
=
! "C
n
( )
Wing
! p
=
1
12
1+ 3#
1+ #
$
%
&
'
(
)
!C
D
Parasite, Wing
!*
C
L
$
%
&
'
(
)
Thin triangular wing
C
n p
( )
Wing
= !
"#
N
9AR
Vertical tail
C
n p
( )
Vertical Tail
= !2"
N
l
vt
b
#
$
%
&
'
(
C
n
)
( )
Vertical Tail
(): Subsonic
(+): Supersonic
N
p
Effect on 4
th
-Order
Roots
!
LD
(s) = d(s) + N
p
n(s) = 0
kn(s)
d(s)
= "1 =
N
p
s s " z
1
( )
s " #
1
( ) s " #
2
( ) s
2
+ 2$%
n
s +%
n
2
( )
N
p
> 0 N
p
< 0
Tends to have opposite signs in
sub- and supersonic ight
Effect is analogous to L
"
effect
Root Locus Gain = Yaw due to Roll Rate