Linearized Longitudinal

Equations of Motion!
Robert Stengel, Aircraft Flight Dynamics !
MAE 331, 2014!
Learning Objectives!
! 6th-order -> 4th-order -> hybrid equations"
! Dynamic stability derivatives "
! Long-period (phugoid) mode"
! Short-period mode"

Reading:!
Flight Dynamics!
452-464, 482-486!
Airplane Stability and Control!
Chapter 7!
Copyright 2014 by Robert Stengel. All rights reserved. For educational use only.!
http://www.princeton.edu/~stengel/MAE331.html!
http://www.princeton.edu/~stengel/FlightDynamics.html! 1!

The Jets at an Awkward Age!

Chapter 7, Airplane Stability and Control,
Abzug and Larrabee!
! What are the principal subject and scope of the
chapter?"
! What technical ideas are needed to understand the
chapter?"
! During what time period did the events covered in
the chapter take place?"
! What are the three main "takeaway" points or
conclusions from the reading?"
! What are the three most surprising or remarkable
facts that you found in the reading?"

2!
 Longitudinal LTI Dynamics Wordle!

3!

6th-Order Longitudinal
Fairchild-Republic A-10!
Equations of Motion!
! Symmetric aircraft"
! Motions in the vertical plane"
! Flat earth "

Nonlinear Dynamic Equations! State Vector, 6 components!

u! = X / m ! g sin " ! qw ! x1 $ % $ Axial Velocity

" %
# & " u '
w! = Z / m + g cos" + qu # x2 & $
w
' $ Vertical Velocity '
$ ' $ '
x! I = ( cos" ) u + ( sin " ) w # x3 & $ x ' $ Range
# & = x Lon = '
z!I = ( ! sin " ) u + ( cos" ) w # x4 & 6 $ z ' $ Altitude() '
$ ' $
# &
x5 & q Pitch Rate '
q! = M / I yy # $ ' $ '
# x6 &
$# ! '& $ Pitch Angle '
"! = q " % # &
4!
 4th-Order Longitudinal
Equations of Motion!
Nonlinear Dynamic Equations, neglecting range and altitude!
u! = f1 = X / m ! g sin " ! qw
w! = f2 = Z / m + g cos" + qu
q! = f3 = M / I yy
"! = f4 = q
State Vector, 4 components!
! x1 $ " u % " Axial Velocity, m/s %
# & $ ' $ Vertical Velocity, m/s '
x2 & w '
#
= x Lon4 $ '=$
# x3 & $ q ' $ Pitch Rate, rad/s '
# & $ ' $ '
#" x4 & # ! & $ Pitch Angle, rad '& 5!
% #

Fourth-Order Hybrid
Equations of Motion!

6!
 Transform Longitudinal
Velocity Components"
Replace Cartesian body components of velocity by polar inertial components"
Replace X and Z by T, D, and L"

u! = f1 = X / m ! g sin " ! qw
w! = f2 = Z / m + g cos" + qu
q! = f3 = M / I yy
"! = f4 = q
! x1 $ ! u $ ! Axial Velocity $
# & & # Vertical Velocity &
x2 & # w &
#
=# &=#
# x3 & # q & # Pitch Rate &
# & # & # &
#" x4 & " ' % # Pitch Angle &% 7!
% "

Transform Longitudinal Velocity

Components"
Replace Cartesian body components of velocity by polar inertial components"
Replace X and Z by T, D, and L"

V! = f1 = $%T cos (! + i ) " D " mgsin # &' m

Hawker P1127 Kestral!
#! = f2 = $%T sin (! + i ) + L " mg cos # &' mV
q! = f3 = M / I yy
(! = f4 = q

! x1 $ ! V $ ! Velocity $
i = Incidence angle of the thrust vector
# & & # Flight Path Angle &
# x2 & ## ' & # & with respect to the centerline
= =
# x3 & # q & # Pitch Rate &
# & # & # &
#" x4 & " ( % # Pitch Angle &%
% "
8!
 Hybrid Longitudinal
Equations of Motion"
! Replace pitch angle by angle of attack! ! =" #$
V! = f1 = $%T cos (! + i ) " D " mgsin # &' m
#! = f2 = $%T sin (! + i ) + L " mg cos # &' mV
q! = f3 = M / I yy
(! = f4 = q

! x1 $ ! V $ ! Velocity $
# & & # Flight Path Angle &
# x2 & ## ' & # &
= =
# x3 & # q & # Pitch Rate &
# & # & # &
#" x4 & " ( % # Pitch Angle &% 9!
% "

Hybrid Longitudinal
Equations of Motion"
! Replace pitch angle by angle of attack! ! = " # $

V! = f1 = $%T cos (! + i ) " D " mgsin # &' m

#! = f2 = $%T sin (! + i ) + L " mg cos # &' mV
q! = f3 = M / I yy
1
!! = (! " #! = f4 = q " $T sin (! + i ) + L " mg cos # &'
mV %
! x1 $ ! V $ ! Velocity $
# & & # Flight Path Angle &
# x2 & ## ' & # &
= =
# x3 & # q & # Pitch Rate &
# & # & # &
#" x4 & " ( % # Angle of Attack &%
% "

! = " +# 10!
 Why Transform Equations and
State Vector?"
! x1 $ ! V $ ! Velocity $
# & # & # &
# x2 & # ' & = # Flight Path Angle &
# &= & # &
# x3 & # q Pitch Rate &
# & #
#
" x4 &% " ( % #" Angle of Attack &%

! Velocity and ight path angle typically have

slow variations "
! Pitch rate and angle of attack typically have
quicker variations"
11!

Small Perturbations from Steady Path

Approximated by Linear Equations"
x! (t) = x! N (t) + !!x(t)
" f[x N (t),u N (t),w N (t),t] + F ( t ) !x(t) + G ( t ) !u(t) + L ( t ) !w(t)

Steady, Level Flight!

x! (t) = 0 + !!x(t)
" f[x N (t),u N (t),w N (t),t] + F!x(t) + G!u(t) + L!w(t)

Rates of change are small"

12!
 Nominal Equations of Motion in
Equilibrium (Trimmed Condition)"
x! N (t) = 0 = f[x N (t), u N (t), w N (t),t]
T
xTN = # VN !N 0 " N % = constant
$ &

T, D, L, and M contain state, control, and disturbance effects"

V!N = 0 = f1 = $%T cos (! N + i ) " D " mgsin # N &' m
#! N = 0 = f2 = $%T sin (! N + i ) + L " mg cos # N &' mVN
q! N = 0 = f3 = M I yy
1
!! N = 0 = f4 = ( 0 ) " $T sin (! N + i ) + L " mg cos # N &'
mVN %

(See Supplemental Material for trimmed solution)! 13!

Small Perturbations from Steady Path

Approximated by Linear Equations"
Linearized Equations of Motion!

$ !V! ' $ !V '

& ) & ) $ !* T '
!"! ) !" ) & )
!!x Lon =& = FLon & + G Lon & !* E ) +"
& !q! ) & !q )
& ) & ) &% " )(
&% !# )(
! % !# (

14!
 Linearized!
Equations of Motion!
Phugoid (Long-Period) Motion!

Short-Period Motion!

15!

Approximate Decoupling of Fast and

Slow Modes of Motion"
Hybrid linearized equations allow the
two modes to be examined separately"
Effects of phugoid Effects of short-period
perturbations on perturbations on
phugoid motion" phugoid motion"

! Ph $
FPh FSP
FLon = # &
# FPh
SP
FSP &%
"
Effects of phugoid Effects of short-period
perturbations on perturbations on short-
short-period motion" period motion"

! F small $ ! FPh 0 $
Ph
=# &'# &
#" small FSP &% #" 0 FSP &% 16!
 Sensitivity Matrices for
Longitudinal LTI Model"
!!x Lon (t) = FLon !x Lon (t) + G Lon !u Lon (t) + L Lon !w Lon (t)

$ ! f1 ! f1 ! f1 ! f1 '
& )
& !V !" ! q !# )
& ! f2 ! f2 ! f2 ! f2 )# ! f1 ! f1 ! f1 &
& ) (
!V !" ! q !# )% !" E !" T !" F (
FLon =& %
& ! f3 ! f3 ! f3 ! f3 )% ! f2 ! f2 ! f2 ( # ! f1 ! f1 &
& ) % (
!V !" ! q !# )% !" E !" T !" F ( % ! Vwind !" wind (
& G Lon = % (
& ! f4 ! f4 ! f4 ! f4 )% ! f3 ! f3 ! f3 ( % ! f2 ! f2 (
& ) !" E !" T !" F ( % (
&% !V !" ! q !# )% ! Vwind !" wind (
(% ( %
! f4 ! f4 ! f4L Lon( = %
% ! f3 ! f3 (
%$ !" E !" T !" F (' % (
% ! Vwind !" wind (
% ! f4 ! f4 (
% (
%$ ! Vwind !" wind (
'17!

Velocity Dynamics"
Nonlinear equation"
1
V! = f1 = [T cos ! " D " mgsin # ] Thrust along xB!
m
1% $V 2 $V 2 (
= 'CT cos ! S " CD S " mgsin # *
m& 2 2 )
First row of linearized dynamic equation"
%" f "f "f "f (
!V! (t) = ' 1 !V (t) + 1 !# (t) + 1 !q(t) + 1 !$ (t) *
& "V "# "q "$ )
%"f "f "f (
+ ' 1 !+ E(t) + 1 !+ T (t) + 1 !+ F(t) *
& "+ E "+ T "+ F )
% " f1 " f1 (
+' !Vwind + !$ wind *
& " Vwind "$ wind ) 18!
 Sensitivity of Velocity Dynamics
to State Perturbations "
% #V 2 (
V! = '(CT cos ! " C D ) S " mgsin $ * m
& 2 )
Coefcients in rst row of F"
! f1 1 % $ NVN 2 (
(
= ' CTV cos " N # C DV
!V m &
)
2
( )
S + CTN cos " N # C DN $ NVN S *
)
! f1 #1 " CT
= [ mg cos " N ] = #g cos " N CTV !
!" m "V
"C
C DV ! D
! f1 "1 $ # NVN 2 ' "V
= C S)
! q m &% Dq 2 ( "C
C Dq ! D
"q
! f1 #1 % $ NVN 2 (
=
!" m '& TN
(
C sin " N + C D"
2
S*
)
) "C
C D# ! D
"# 19!

Sensitivity of Velocity Dynamics to

Control and Disturbance Perturbations "
Coefcients in rst rows of G and L"

! f1 #1 % $ NVN 2 (
= C S* ! f1 !f
!" E m '& D" E 2 ) =" 1
! f1 1% $ NVN 2 ( !Vwind !V
= 'CT" T cos + N S*
!" T m & 2 ) ! f1 ! f1
="
! f1 #1 % $ V ( 2 !# wind !#
= 'C D" F N N S * CT!T "
# CT
!" F m & 2 ) #! T
# CD
C D! E "
#! E
# CD
C D! F "
#! F 20!
 Flight Path Angle Dynamics"
Nonlinear equation"
1
!! = f2 =
mV
[T sin " + L # mg cos ! ]
1 % $V 2 $V 2 (
= ' C sin " S + C S # mg cos ! *
mV & 2 2
T L
)

Second row of linearized equation"

%# f #f #f #f (
!"! (t) = ' 2 !V (t) + 2 !" (t) + 2 !q(t) + 2 !$ (t) *
& #V #" #q #$ )
%#f #f #f (
+ ' 2 !+ E(t) + 2 !+ T (t) + 2 !+ F(t) *
& #+ E #+ T #+ F )
% # f2 # f2 (
+' !Vwind + !$ wind *
& # Vwind #$ wind ) 21!

Sensitivity of Flight Path Angle

Dynamics to State Perturbations "
% #V 2 (
!! = '(CT sin " + C L ) S $ mg cos ! * mV
& 2 )
Coefcients in second row of F"
! f2 1 $ # NVN 2 '
=
! V mVN % & C(
TV sin " N + C LV )2
( )
S + CTN sin " N + C LN # NVN S )
(
1 $ # V 2
'
* 2 &
mVN %
( )
CTN sin " N + C LN N N S * mg cos + N )
2 (
! f2 1 CTV !
" CT

!"
=
mVN
[ mgsin " N ] = gsin " N VN "V
" CL
C LV !
"V
! f2 1 # " NVN 2 & " CL
= C S( C Lq !
! q mVN %$ Lq 2 ' "q
" CL
C L# !
! f2 1 $ # NVN 2 '
( )
"#
= C cos " + C S)
!" mVN &% TN N L"
2 ( 22!
 Pitch Rate Dynamics"
Nonlinear equation"
M Cm !V 2 Sc
( )
2

q! = f3 = =
I yy I yy

Third row of linearized equation"

%" f "f "f "f (

! = ' 3 !V (t) + 3 !# (t) + 3 !q(t) + 3 !$ (t) *
!q(t)
& "V "# "q "$ )
%"f "f "f (
+ ' 3 !+ E(t) + 3 !+ T (t) + 3 !+ F(t) *
& "+ E "+ T "+ F )
% " f3 " f3 (
+' !Vwind + !$ wind *
& " Vwind "$ wind )
23!

Sensitivity of Pitch Rate

Dynamics to State Perturbations "
q! = Cm ( !V 2 2 ) Sc I yy
Coefcients in third row of F"
! f3 1 # " NVN 2 &
= % CmV Sc + CmN " NVN Sc (
! V I yy $ 2 '
! f3
=0
!"

! f3 1 # " NVN 2 & CmV !

" Cm
= C Sc ( "V
! q I yy %$ mq 2 ' " Cm
C mq !
"q
! f3 1 $ # NVN 2 ' " Cm
= C Sc ) Cm#
!" I yy &% m" 2
!
( "# 24!
 Angle of Attack Dynamics"
Nonlinear equation"
1
!! = f4 = "! # $! = q #
mV
[T sin ! + L # mg cos $ ]

Fourth row of linearized equation"

%# f #f #f #f (
!"! (t) = ' 4 !V (t) + 4 !$ (t) + 4 !q(t) + 4 !" (t) *
& #V #$ #q #" )
%#f #f #f (
+ ' 4 !+ E(t) + 4 !+ T (t) + 4 !+ F(t) *
& #+ E #+ T #+ F )
% # f4 # f4 (
+' !Vwind + !" wind *
& #Vwind #" wind )
25!

Sensitivity of Angle of Attack

Dynamics to State Perturbations "
!! = "! # $! = q # $!
Coefcients in fourth row of F"

! f4 !f ! f4 !f
=" 2 = 1" 2
!V !V !q !q
! f4 !f ! f4 ! f2
=# 2 =#
!" !" !" !"
26!
 Alternative Approach:"
Numerical Calculation of the Sensitivity
Matrices (1st Differences)!
& (V + #V ) ) & (V , #V ) ) & V ) & V )
( + ( + ( + ( +
f1 ((
$ +, f ( $ + ( #$ )
$ + +, f ( ( $ , #$ )
+ 1( + f1 ( 1
+
q q ( q + ( q +
( + ( + ( + ( +
(' % +* (' % +* x=x N (t ) (' % +* (' % +* u=u
x=x N (t )
! f1 u=u N (t )
! f1 N (t )

(t ) " w=w N (t )
; (t ) " w=w N (t )

!V 2#V !$ 2#$

& (V + #V ) ) & (V , #V ) ) & V ) & V )

( + ( + ( + ( +
f2 ((
$ +, f ( $ + ( #$ )
$ + +, f ( ( $ , #$ )
+ 2( + f2 ( 2
+
q q ( q + ( q +
( + ( + ( + ( +
(' % +* (' % +* x=x N (t ) (' % +* (' % +* u=u
x=x N (t )
! f2 u=u N (t )
! f2 N (t )

(t ) " w=w N (t )
; (t ) " w=w N (t )

!V 2#V !$ 2#$

Remaining elements of F(t), G(t), and L(t)

calculated accordingly" 27!

SpaceShipTwo Accident!
October 31, 2014"

28!
Flight Prole of
SpaceShipOne"
(Precursor to
SpaceShipTwo)!

29!

SpaceShipTwo Cutaway Diagram"

30!
 SpaceShipTwo Accident!
October 31, 2014"

Probable Cause, as of 11/3/14! Chris Hart, 68, *70!

Premature Feathering at M = 1! Acting Chairman, NTSB!

31!

SpaceShipOne"
Ansari X Prize, December 17, 2003"

Brian Binnie, *78!

Pilot, Astronaut"

32!
 33!

SpaceShipOne Altitude vs. Range!

MAE 331 Assignment #4, 2010"

34!
 SpaceShipOne State Histories"

35!

SpaceShipOne Dynamic Pressure

and Mach Number Histories"

36!
 Dimensional Stability
and Control Derivatives!

37!

Dimensional Stability-Derivative
Notation"
!! Redene force and moment symbols as
acceleration symbols"
!! Dimensional stability derivatives portray
acceleration sensitivities to state perturbations"

Drag
! D " V!
mass (m)
Lift
! L "V #!
mass
Moment
! M " q!
moment of inertia (I yy )
38!
 Dimensional Stability-Derivative
Notation"
! f1 1& % NVN 2 )
!V m'
(
" #DV ! ( CTV cos $ N # C DV
2
) (
S + CTN cos $ N # C DN % NVN S +
*
)
Thrust and drag effects are combined and
represented by one symbol!

! f2 L" 1 % $ NVN 2 (
!"
# V !
N mVN '& N
(
CT cos " N + C L"
2
S*
)
)
Thrust and lift effects are combined and
represented by one symbol!

! f3 1 % $ NVN 2 (
# M" ! Cm Sc *
!" I yy '& " 2 ) 39!

Longitudinal Stability Matrix"

Effects of phugoid Effects of short-period
perturbations on perturbations on phugoid
phugoid motion" motion"

! 'D
V 'g cos ( N 'Dq 'D) $
# &
# LV g Lq L) &
sin ( N
!
FPh F Ph $ # VN VN VN VN &
FLon = # SP
SP &=# &
# FPh FSP & # MV 0 Mq M) &
" % # &
# ' LV g * Lq - L &
' sin ( N ,1' V / ' ) V
# VN VN + N. N &
" %
Effects of phugoid Effects of short-period
perturbations on short- perturbations on
period motion" short-period motion"
40!
 Comparison of Fourth-
and Second-Order
Dynamic Models!

41!

4th-Order Initial-Condition
Responses of Business Jet
at Two Time Scales"
Plotted over different periods of time"
4 initial conditions [V(0), #(0), q(0), $(0)]"

0 - 100 sec" 0 - 6 sec"

! Reveals Phugoid Mode" ! Reveals Short-Period Mode"

42!
2nd-Order Models of Longitudinal Motion"
Assume off-diagonal blocks of (4 x 4) stability matrix
are negligible"

! FPh ~ 0 $
FLon =# &
#" ~ 0 FSP &%
Approximate Phugoid Equation"
!!x Ph =
# *DV *g cos " N &
# !V! & % ( # !V &
% ( ) % LV g % (
%$ !"! (' % VN sin " N ( %$ !" ('
VN (
$ '
# T+ T & # *DV &
% ( % (
+% L
+T ( !+ T + % LV ( !Vwind
%$ VN (' %$ VN (' 43!

2nd-Order Models of Longitudinal Motion"

! FPh ~ 0 $
FLon = # &
#" ~ 0 FSP &%

Approximate Short-Period Equation"

!!x SP =
# Mq M" &
# !q! & % ( # !q &
% ( ) % + Lq . L" (% (
%$ !"! '( % -, 1* VN 0/ * VN ( %$ !" ('
$ '
# M1 E & # M" &
% ( % (
+ % *L ( !1 E + % *L" ( !" wind
1E
%$ VN (' %$ VN (' 44!
Comparison of Bizjet 4th- and 2nd-Order
Model Responses"
Phugoid Time Scale, ~100 s"

4th Order,"
4 initial conditions
[V(0), #(0), q(0), $(0)]"

2nd Order,"
2 initial conditions
[V(0), #(0)]"
"

45!

Comparison of Bizjet 4th- and 2nd-Order

Model Responses"
Short-Period Time Scale, ~10 s"

4th Order,"
4 initial conditions
[V(0), #(0), q(0), $(0)]"

2nd Order,"
2 initial conditions
[q(0), $(0)]"
"

46!
Approximate Phugoid Response to
a 10% Thrust Increase"

What is the steady-state response?"

47!

Approximate Short-Period Response

to a 0.1-Rad Pitch Control Step Input"
Pitch Rate, rad/s! Angle of Attack, rad!

What is the steady-state response?"

48!
Normal Load Factor Response to a
0.1-Rad Pitch Control Step Input"
Grumman X-29!
! Normal load factor at the center of mass"

VN V %L L (
nz = ( !"! # !q ) = N ' " !" + $ E !$ E *
g g & VN VN )
! Pilot focuses on normal load factor during rapid maneuvering"
Normal Load Factor, g
s at c.m.! Normal Load Factor, g
s at c.m.!
Aft Pitch Control (Elevator)! Forward Pitch Control (Canard)!

49!

Next Time:!
Lateral-Directional Dynamics!
Reading:!
Flight Dynamics!
574-591!

50!
 Supplemental
Material

51!

Trimmed Solution of the

Equations of Motion!

52!
 Flight Conditions for
Steady, Level Flight"
Nonlinear longitudinal model"
1
V! = f1 = $%T cos (! + i ) " D " mg sin # &'
m
1
#! = f2 = $T sin (! + i ) + L " mg cos # &'
mV %
q! = f3 = M / I yy
1
!! = f4 = (! " #! = q " $T sin (! + i ) + L " mg cos # &'
mV %

Nonlinear longitudinal model in equilibrium"

1
0 = f1 = $T cos (! + i ) " D " mg sin # &'
m%
1
0 = f2 = $T sin (! + i ) + L " mg cos # &'
mV %
0 = f3 = M / I yy
1
0 = f4 = (! " #! = q " $T sin (! + i ) + L " mg cos # &' 53!
mV %

Numerical Solution for Level Flight

Trimmed Condition"
! Specify desired altitude and airspeed, hN and VN!
! Guess starting values for the trim parameters, !T0, !E0, and "0#
! Calculate starting values of f1, f2, and f3"

1%
f1 = &T (!T , ! E," ,h,V ) cos (# + i ) $ D (!T , ! E," ,h,V )'(
m
1 %
f2 = &T (!T , ! E," ,h,V ) sin (# + i ) + L (!T , ! E," ,h,V ) $ mg'(
mVN
f3 = M (!T , ! E," ,h,V ) / I yy

! f1, f2, and f3 = 0 in equilibrium, but not for arbitrary !T0, !E0, and "0"
! Dene a scalar, positive-denite trim error cost function, e.g., "

J (!T , ! E," ) = a ( f12 ) + b ( f22 ) + c ( f32 )

54!
 Minimize the Cost Function with
Respect to the Trim Parameters"
Error cost is bowl-shaped

"
J (!T , ! E," ) = a ( f12 ) + b ( f22 ) + c ( f32 )

Cost is minimized at bottom of bowl, i.e., when"

$ !J !J !J '
& )= 0
% !"T !" E !# (

Search to nd the minimum value of J"

55!

Example of Search for Trimmed

Condition (Fig. 3.6-9, Flight Dynamics)"

In MATLAB, use fminsearch to nd trim settings"

(!T *,! E*," *) = fminsearch #$ J, (!T ,! E," )%&

56!
 Elements of the Stability Matrix"
Stability derivatives portray acceleration
sensitivities to state perturbations"
! f1 ! f1 ! f1 ! f1
" #DV ; = #g cos $ N ; " #Dq ; " #D%
!V !$ !q !%

! f2 LV ! f2 g ! f 2 Lq ! f2 L$
" V ; = sin # N ; " V ; " V
!V N !# VN !q N !$ N

! f3 ! f3 ! f3 ! f3
" MV ; = 0; " M q; " M$
!V !# !q !$

! f4 L ! f4 g ! f4 L ! f4 L
"# VV ; = # sin $ N ; " 1# q V ; "# %V
!V N !$ VN !q N !% N

57!

Control and Disturbance Sensitivities

in Flight Path Angle, Pitch Rate, and
Angle-of-Attack Dynamics"
! f2 1 $ #VN2 ' ! f3
$ 1#VN2 '
=
!" E mVN &C L" E 2 S ) &Cm" E 2 Sc ) ! f4 = # ! f2
=
!" E I yy
% ( % ( !" E !" E
! f2 1 $ #VN2 ' ! f3 1 $ #VN ' ! f4 = # ! f2
2
= & CT" sin * N S) = Cm"T Sc ) !" T
!" T mVN % T
2 ( !" T I & 2 !" T
yy % (
! f4 !f
! f2 1 $ #VN2 ' f 1 V 2 =# 2
= CL S ! 3 $ # '
Cm" F N Sc ) !" F !" F
!" F mVN &% " 2 )(
F = &
!" F I yy % 2 (

! f2 !f ! f3 !f ! f4 !f
=" 2 =" 3 = 2
!Vwind !V !Vwind !V !Vwind !V
! f2 !f ! f3 !f ! f3 !f
=" 2 =" 3 = 2
!# wind !# !# wind !# !" wind !" 58!
 Velocity-Dependent Derivative
Denitions"
Air compressibility effects are a principal source of
velocity dependence"

" CD " CD "C a = Speed of Sound

C DM ! = =a D
" M " (V / a ) "V M = Mach number = V a

" CD # 1 &
C DV ! = % (CD
"V $ a ' M
C DM > 0 C DM < 0
"C # 1 &
C LV ! L = % ( C LM
C DM ! 0 "V $ a '
"C # 1 &
CmV ! m = % ( CmM
"V $ a '
59!

Wing Lift and Moment Coefcient

Sensitivity to Pitch Rate"
Straight-wing incompressible ow estimate (Etkin)"
C Lqwing = !2C L"wing ( hcm ! 0.75 )
2
Cmqwing = !2C L"wing ( hcm ! 0.5 )

Straight-wing supersonic ow estimate (Etkin)"

C Lqwing = !2C L" wing ( hcm ! 0.5 )
2 2
Cmqwing = ! ! 2C L" wing ( hcm ! 0.5 )
3 M !1 2

Triangular-wing estimate (Bryson, Nielsen)"

2"
C Lqwing = ! CL
3 # wing
"
Cmqwing =!
3AR
60!
 Control- and Disturbance-
Effect Matrices"
! Control-effect derivatives portray acceleration
sensitivities to control input perturbations"

# !D" E T" T !D" F &

% (
% L" E / VN L" T / VN L" F / VN (
G Lon =% (
M"E M "T M"F
% (
% !L" E / VN !L" T / VN !L" F / VN (
$ '
! Disturbance-effect derivatives portray acceleration sensitivities
to disturbance input perturbations"
# !DV !D" wind &
wind
% (
% LVwind / VN L" wind / VN (
L Lon =% (
% M Vwind M " wind (
% !L (
%$ Vwind / VN !L" wind / VN (' 61!

Primary Longitudinal Stability

Derivatives"
!1 # "VN2 &
DV ! %(CTV ! C DV ) S + (CTN ! C DN ) "VN S (
m$ 2 '

LV 1 " !VN2 % 1 " !VN2 %

VN ! mV $C LV 2 S + C LN !VN S ' ( mV 2 $C LN 2 S ( mg '
N # & N # &

1 " !VN2 % 1 # "VN2 &

Mq = $ mq 2 Sc '
C M! = % m! 2 Sc (
C
I yy # & I yy $ '

L! 1 # "VN2 &
! C
VN mV % TN
N $
+ (
C L! S
2 ('
)
Small angle assumptions 62!
 Primary Phugoid Control
Derivatives"

"1 $ #VN 2 '

D! T ! &CT! T S)
m% 2 (
L! F 1 $ #VN 2 '
!
VN mV &C L! F 2 S )
N % (

63!

Primary Short-Period Control

Derivatives"

# " NVN2 &

M! E = Cm! E % ( Sc
$ 2I yy '
L! E # " V 2
N N &
V = C L! E %$ 2m (' S

64!
 Flight Motions"
Simulator Demonstration of "
Short-Period Response to Elevator Deection"
http://www.youtube.com/watch?v=1O7ZqBS0_B8"
Simulator Demonstration of Phugoid Response!
http://www.youtube.com/watch?v=DEOGM_9NGTI!

Dornier Do-128D!

Dornier Do-128 Short-Period Demonstration"

http://www.youtube.com/watch?v=3hdLXE0rc9Q"

Dornier Do-128 Phugoid Demonstration"

http://www.youtube.com/watch?v=jzxtpQ30nLg&feature=related"
65!