222 Important

Lecture – 11
Overview of Flight Dynamics – I
Dr. Radhakant Padhi

Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
Point Mass Dynamics
Dr. Radhakant Padhi

Asst. Professor
Basic Assumptions for
Point Mass Model
1. All forces act at the CG of the airplane
2. Acceleration due to gravity (g) is constant
3. Atmosphere is at rest relative to earth
4. Atmospheric properties are functions of
altitude only
5. Forces acting on airplane are thrust,
aerodynamic forces and its weight
6. Vehicle attitude is ignored…only direction
of velocity vector is considered.
ADVANCED CONTROL SYSTEM DESIGN 3
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Point Mass Model for Flat (and
Non-rotating) Earth
Kinematic Equations
Resolving the velocity vector
along the local horizontal
x = V cos γ
Resolving the velocity vector
along the local vertical
h = V sin γ

Non-rotating) Earth
Dynamic Equations
Resolving forces along
the velocity vector
mV = T cosα − D −W sin γ
Resolving forces ⊥ to
the velocity vector
mV γ = T sin α + L −W cos γ

Non-rotating) Earth
x = V cos γ Note :
x equation is not coupled with others.
h = V sin γ
1
V = (T cos α − D − mg sin γ )

m
1
γ = (T sin α + L − mg cos γ )
mV
Point Mass Model for Spherical,
Non-Rotating Earth
Kinematic Equations
Using the force balance equation
m(V cos γ )2 = mV 2 cos γ
r R
R= r
cos γ
Resolving velocity vector along
local vertical and horizontal
r = V sin γ
rθ = V cos γ
Non-Rotating Earth
Dynamic Equations
Resolving force components
along the velocity vector
mV = T cosα − D − mg sin γ
Resolving the force components

⊥ to the velocity vector
mV γ = T sin α + L
mV 2
− mg cos γ +
R
Non-Rotating Earth
r = V sin γ
Note :
V cos γ θ equation is not coupled with others.
θ=
r
1
V = (T cos α − D − mg sin γ )

m
1 ⎛ mV 2 ⎞
γ = ⎜ T sin α + L − mg cos γ + ⎟
mV ⎜ R ⎟
⎝ ⎠

Point Mass Model for Spherical
and Rotating Earth
When thrust is absent, the kinematic and dynamic equations are
V cos γ sinψ V cos γ cosψ
r = V sin γ , ϕ = , θ =
r r cos ϕ
D
V = − − g sin γ + Ωe2r cosϕ (sin γ cosϕ − cos γ sin ϕ sinψ )
m
γ = L cosσ − g cos γ + V cos γ + 2Ωe cosϕ cosψ
mV V r
Ωe2r
+ cosϕ (cos γ cosϕ + sin γ sin ϕ sinψ )
V
ψ = L sin σ − V cos γ cosψ tan ϕ + 2Ωe (tan γ cosϕ sinψ − sin ϕ )
mV cos γ r
Ωe2r
− sin ϕ cosϕ cosψ
V cos γ
Point Mass Model for Spherical
and Rotating Earth
Where
r − Radial Distance from Center of Earth
V − Earth Relative Velocity
Ωe − Earth Angular Speed
γ − Flight Path Angle
σ − Velocity Roll / Bank Angle
ψ − Velocity Yaw / Heading Angle
m − Mass of Vehicle σ
g − Acceleration due to Gravity
θ − Longitude
ϕ − Geocentric Latitude

Six – DOF Model
Dr. Radhakant Padhi

Asst. Professor
Basic Force Balance
z Weight
z Lift
Side force
z Drag
z Thrust
z Side force
ADVANCED CONTROL SYSTEM DESIGN Dr. 13

Radhakant Padhi, AE Dept., IISc-Bangalore
Basic Moment Balance
z Rolling
Y
z Pitching
z Yawing
X
Z
Control Action: Aileron Roll

Control Action: Elevator Pitch

Control Action: Rudder Yaw

Six-DOF Model
Ref: Roskam J., Airplane Flight Dynamics and Automatic Controls, 1995
dm
Assumptions: dS
• Flat earth (spherical and dV
rotational effects are negligible)
• Rigid body (no relative motion Body axis:
rotating and
of particles, no spinning rotors) moving
• Constant mass and mass
distribution (no fuel burning,
no fuel slosh, no passenger
movement etc.) Inertial axis:
non-rotating and
• Uniform mass density non-moving
• Constant gravity
Six-DOF Model
G G G dm
From Geometry: r ′ = r p′ + r dS
dV
P is center of mass/gravity. Hence:
G
∫
V
r ρ AdV = 0
G G
∫ ( r ′ − r p′ ) ρ A d V = 0 CG
V
G G G
∫
V
r ′ ρ A d V = r p′ ∫ ρ A d V = r p′ m
V
G 1 G
rp′ = ∫ r ′ρ A dV
mV
Dynamic Equations
Dr. Radhakant Padhi

Asst. Professor
Force and Moment Equations
dm
Newton’s Second Law of Motion: dS

dV
(valid in inertial reference frame)
G
d ⎡ ⎛ d r′ ⎞ ⎤ G G
⎢∫ ρ A ⎜ ⎟ dV ⎥ = ∫ ρ A g dV + ∫S F ds
dt ⎣V ⎝ dt ⎠ ⎦

V

N
Linear momentum Gravity Force Aerodynamic/Thrust Force
G
d ⎡ G ⎛ d r′ ⎞ ⎤ G G G G
⎢∫ r × ρ A ⎜
′ ⎟ dV ⎥ = ∫ r × ρ A g dV +
′ ∫S r ′ × F ds
dt ⎣V ⎝ dt ⎠ ⎦ V

Angular momentum Gravity Moment Aerodynamic/Thrust Moment

Force Equation (inertial frame)
G
⎡ ⎛ d r′ ⎞ ⎤ d ⎡ d G G ⎤
⎟ dV ⎥ = ⎢ ∫ ρ A ( rp′ + r ) dV ⎥
d
⎢∫ ρ A ⎜
dt ⎣V ⎝ dt ⎠ ⎦ dt ⎣ dt V ⎦
⎡ ⎛ ⎞⎤
dm
⎢ ⎜ ⎟⎥
d ⎢d ⎜G G
rp′ ∫ ρ A dV + ∫ r ( ρ A dV ) ⎟ ⎥
dS
=
dt ⎢ dt ⎜ V
⎟⎥
dV
⎢ ⎜

⎟⎥
V
dm
⎣ ⎝ m
=0 ⎠⎦
G G
d⎛d G ⎞ d ⎛ d rp′ ⎞
= ⎜ ( mrp′ ) ⎟ = m ⎜
dVp
⎟=m
dt ⎝ dt ⎠ dt ⎝ dt ⎠ dt
G

Vp

Force Equation (inertial frame)
Moreover dm
G G G dS
∫V ρ A g dV = g V∫ ρ AdV = mg dV
m
G G G
∫ F dS = Aerodynamic
S
NX + XT
N
Thrust force
force
Hence G
dVp G G G
m = mg + X + X T
dt
Applied in inertial frame

Force Equation (body frame)
z Thrust forces are typically applied in body

frame
z Aerodynamic forces act on “wind frame”,
which is close to body frame (they are same
when α=β=0)
z Body frame is a rotating frame. Hence it is
NOT an inertial frame and the Newton’s laws
are not applicable directly.

A Standard Result :
G G
dA ∂A G G
= + ω ×A
dt Equivalent
in inertial
∂t As seen
in rotating
frame frame
G
where ω : Angular velocity of rotating frame wrt. inertial frame.
G
A : Any vector
Hence the force equation in body frame becomes :
G
⎛ ∂Vp ⎞ G G G G G
m⎜ ⎟ + ω × Vp = mg (

+ X + XT
)
⎝ ∂t ⎠ B Forced applied in
rotating (body) frame
G G
ω = [ P Q R] ,
T
( )
Vp = [U V W ]
B
T
G G
X = [X Y Z] , X T = [ X T YT ZT ]
T T
G
g = [ g X gY g Z ]
T
Y
i j k
G G
( )
ω × Vp = P Q R
U V W X
Z
= i ( QW − VR ) − j ( PW − UR ) + k ( PV − UQ )
m (U − VR + WQ ) = mg X + ( X + X T )
m (V + UR − WP ) = mgY + (Y + YT )
m (W − UQ + VP ) = mg Z + ( Z + ZT )
where g X = − g sin Θ
mg cos Θ
gY = g cos Θ sin Φ
g Z = g cos Θ cos Φ
Note: The gravity components can also be
Formally derived from Euler angle definitions.
Moment Equation
G
d ⎡ G ⎛ dr ⎞ ⎤ G G
⎢∫ r × ⎜ ⎟ ρ A dV ⎥ = ∫ r × F ds
dt ⎣V ⎝ dt ⎠

⎦ S

Modified angular momentum Applied moment

(for rotating frame effect) in the body frame
G G
= M + MT
NA N
Aerodynamic moment Thrust moment
Comment:
This expression can be derived from the earlier expression.
However, it is easier to visualize this equation directly in the
body frame since, forces and moments act on the body frame
and gravity force does not create any moment about CG.

Moment Equation
G G
d G ⎛ dr ⎞ d ⎛ G ⎛ dr ⎞⎞
∫ r ×⎜
dt V ⎝ dt ⎠
⎟ ρ A dV = ∫ ⎜ r × ⎜
V
⎟ ⎟ ρ A dV
dt ⎝ ⎝ dt ⎠ ⎠
⎛ G G G ⎞
⎜⎛ dr ⎞ ⎛ dr ⎞ G d ⎛ dr ⎞⎟
= ∫⎜⎜ ⎟×⎜ ⎟+ r× ⎜ ⎟ ⎟ ρ A dV
V ⎜⎝ ⎠ ⎝ ⎠ ⎝ ⎠⎟
dt
dt

dt dt
⎝ =0 ⎠
G d ⎛ G G G ⎞
= ∫ r × ⎜ rN + ω × r ⎟ ρ A dV
V
dt ⎝ =0 ⎠

Moment Equation
G
d G ⎛ dr ⎞ G ⎛∂ G G G G G ⎞
∫ r ×⎜ ⎟ ρ A dV = ∫ r × ⎜ (ω × r ) + ω × (ω × r ) ⎟ ρ A dV
dt V ⎝ dt ⎠ V ⎝ ∂t ⎠
G ⎛ ⎛ G G G G ⎞ G G G ⎞
= ∫ r × ⎜ ⎜ ω × r + ω × rN ⎟ + ω × (ω × r ) ⎟ ρ A dV
V ⎝⎝ =0 ⎠ ⎠
∫
V
G
((
G G G G G
)
= r × ω × r + ω × (ω × r ) ρ dV ) A
Hence, the moment equation is:

G G
G
((
G G G G G
) )
∫ r × ω × r + ω × (ω × r ) ρ A dV = M A + M T
V

Moment Equation
Standard Results :
G G G G G G G G G ⎤
( )
∫V r × ω × r ρ A dV = V∫ ⎣ω ( r ⋅ r ) − r r ⋅ ω ⎦ ρ A dV
⎡ ( )
G G G G G G G G G G G
V
∫ r × (ω × (ω × r ) ) ρ A dV = ∫ r × ⎡⎣ω (ω ⋅ r ) − r (ω ⋅ ω )⎤⎦ ρ A dV
V
G G G G
= ∫ r × ω (ω ⋅ r ) ρ A dV
V
However,
G
r = [ x y z ] (in body frame)
T
G
ω = [ P Q R]
T

Moment Equation
G G G G G G G G G ⎤
( )
∫ r × ω × r ρ A dV = ∫ ⎣ω ( r ⋅ r ) − r r ⋅ ω ⎦
⎡ ρ A dV

( )
V V dm
G 2 G G G
= ω ∫ r dm − ∫ r r ⋅ ω dm ( )
V V
= ⎡⎣ P Q R ⎤⎦ ∫(x + y + z ) dm
T
2 2 2
−[x y z]
T
∫ ( + yQ + zR ) dm
xP
V

Moment Equation
⎡ ⎤
⎢ ⎥
⎢ P ∫ ( y 2 + z 2 ) dm − Q ∫ xy dm − R ∫ xz dm ⎥
⎢ V ⎥
⎢
V

V

⎥
I xx I xy I xz
G G G ⎢ ⎥
∫V r (
× ω × r )
ρ A dV = Q ( x 2 + z 2 ) dm − P yx dm − R yz dm ⎥
⎢ V∫
⎢ ∫V ∫V ⎥
⎢
I yy

I yx

I yz

⎥
⎢ ⎥
⎢ R ( x 2 + y 2 ) dm − P zx dm − Q zy dm ⎥
⎢ V∫ ∫V ∫V ⎥
⎢

⎥
⎣ I zz I zx I zy ⎦
Moment Equation
⎡ I xx P − I xy Q − I xz R ⎤
G G G ⎢ ⎥
( )
∫V r × ω × r ρ A dV = ⎢ I yyQ − I yx P − I yz R ⎥
⎢ I zz R − I zx P − I zy Q ⎥
⎣ ⎦
Similarly
G G G G G G G G
∫ (
V
r × ω × ( ω × r ) ) A
ρ dV = ∫ × ω (ω ⋅ r ) ρ A dV
r
V
⎡ I xx PR + I yz ( R 2 − Q 2 ) − I xz PQ + ( I zz − I yy ) RQ ⎤
⎢ ⎥
= ⎢ ( I xx − I zz ) PR + I xz ( P 2 − R 2 ) − I xy QR + I yz PQ ⎥
⎢ ⎥
⎢( I yy − I xx ) PQ + I xy ( Q 2 − P 2 ) + I xz QR − I yz PR ⎥
⎣ ⎦

Moment Equation
z Assumption: An airplane is symmetric about

its XZ-plane
I xy = I yz = 0
z Note: Missiles and launch vehicles are
typically symmetric about both XZ-plane as
well as XY-plane
I xy = I yz = I zx = 0
Moment Equation
G
Aero Moment: M A = [ L M N ]
T
G
Thrust Moment: M T = [ LT M T NT ]
T Q
Hence, the moment equations are: P R
I xx P − I xz R − I xz PQ + ( I zz − I yy ) RQ = L + LT
I yy Q + ( I xx − I zz ) PR + I xz ( P 2 − R 2 ) = M + M T
I zz R − I xz P + ( I yy − I xx ) PQ + I xz QR = N + NT
m (U − VR + WQ ) = −mg sin Θ + ( X + X T )

m (V + UR − WP ) = mg cos Θ sin Φ + (Y + YT )
m (W − UQ + VP ) = mg cos Θ cos Φ + ( Z + ZT )
I xx P − I xz R − I xz PQ + ( I zz − I yy ) RQ = L + LT
I yy Q + ( I xx − I zz ) PR + I xz ( P 2 − R 2 ) = M + M T
I zz R − I xz P + ( I yy − I xx ) PQ + I xz QR = N + NT
1
U = VR − WQ − g sin Θ + ( X + X T )

m V
1
V = WP − UR + g sin Φ cos Θ + (Y + YT )
Q

m
1
W = UQ − VP + g cos Φ cos Θ + ( Z + ZT )
U R
m P W
P = c1QR + c2 PQ + c3 ( L + LT ) + c4 ( N + NT )
Q = c5 PR − c6 ( P 2 − R 2 ) + c7 ( M + M T )
R = c8 PQ − c2QR + c4 ( L + LT ) + c9 ( N + NT )

where
⎡ ⎤
c 1 ⎡ Izz ( Iyy − Izz ) − Ixz
2
⎤ c5 = I zz − I xx ) / I yy
⎢c 2 ⎥ ⎢ ⎥
xz ( Izz + Ixx − Iyy )
⎢ ⎥ ⎢ I ⎥ c6 = I xz / I yy
⎢c 3 ⎥ ⎢ Izz ⎥
1 c7 = 1/ I yy
⎢ ⎥= ⎢ ⎥
⎢c 4 ⎥ ( IxxIzz − Ixz ) ⎢ Iyz
2
⎥
⎢c8 ⎥ ⎢ Ixx ( Ixx − Iyy ) + Ixz 2 ⎥
⎢ ⎥ ⎢ ⎥
⎣c 9 ⎦ ⎢⎣ Ixx ⎥⎦

( ) ( )
N N N
X T = ∑ Ti cos ΦTi cos Ψ Ti LT = − ∑ Ti cos ΦTi sin Ψ Ti zTi − ∑ Ti sin ΦTi yTi
i =1 i =1 i =1 Ti = Timax ⋅ σ Ti
( ) ( )
N N N
YT = ∑ Ti cos ΦTi sin ΨTi M T = ∑ Ti cos ΦTi cos Ψ Ti zTi + ∑ Ti sin ΦTi xTi
i =1 i =1 i =1
( ) ( )
N N N
ZT = − ∑ Ti sin ΦTi NT = − ∑ Ti cos ΦTi cos Ψ Ti yTi + ∑ Ti cos ΦTi sin Ψ Ti xTi
i =1 i =1 i =1
⎛ CDi ⎤ ⎡ 1 ⎤ ⎡CDδ ⎤ ⎟⎞
⎡X ⎤ ⎡Xs ⎤ ⎜ ⎡CDO CDα
⎢ Z ⎥ = T (α ) ⎢ Z ⎥ = T (α )( − qS ) ⎜ ⎢ C ⎥ ⎢⎢α ⎥⎥ + ⎢ ⎥δE ⎟
h E
⎣ ⎦ ⎣ s⎦ ⎜ ⎢⎣ LO CLα CLi ⎥ ⎢ Lδ ⎥ ⎟
C
⎝
h ⎦ ⎢
⎣ ih ⎥⎦ ⎣ E ⎦ ⎠
⎡L ⎤ ⎡ Ls ⎤ ⎛ ⎡ Clβ ⎤ ⎡ Clδ A Clδ ⎤ ⎡δ ⎤ ⎞

⎢ N ⎥ = T (α ) ⎢ N ⎥ = T (α ) qSb ⎜⎜ ⎢C ⎥ β + ⎢C ⎥ ⎢ ⎥⎟
R A
⎣ ⎦ ⎢⎣ nδ A Cnδ ⎥ ⎣δ R ⎦ ⎟
⎣ s⎦ ⎝ ⎢⎣ nβ ⎥⎦ R ⎦ ⎠
⎛ ⎡δ ⎤ ⎞
Y = qS CY = qS ⎜ CYβ β + ⎡CYδ CYδ ⎤ ⎢ A ⎥ ⎟
⎣ A R ⎦
⎣δ R ⎦ ⎠
⎝
⎡cos α − sin α ⎤
Cmi ⎤ [1 α ih ] + Cm δ δ E T (α ) ⎢
M = qSc Cm = qSc ⎡Cmo cos α ⎥⎦
T
⎣ sin α
Cmα
⎣ h ⎦ E

Comment
z We have derived only the set of
“dynamic equations” of the Six-
DOF model, which describe the
effect of forces and moments.
z A set of “kinematic equations”
are also needed to complete the
Six-DOF model, which will be
discussed in the next class.

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Lecture – 11

Overview of Flight Dynamics – I

Dr. Radhakant Padhi

Dr. Radhakant Padhi

ADVANCED CONTROL SYSTEM DESIGN 4

ADVANCED CONTROL SYSTEM DESIGN 5

Resolving the force components

ADVANCED CONTROL SYSTEM DESIGN 9

ADVANCED CONTROL SYSTEM DESIGN 11

Dr. Radhakant Padhi

ADVANCED CONTROL SYSTEM DESIGN Dr. 13

ADVANCED CONTROL SYSTEM DESIGN Dr. 15

ADVANCED CONTROL SYSTEM DESIGN Dr. 16

ADVANCED CONTROL SYSTEM DESIGN Dr. 17

Dr. Radhakant Padhi

Newton’s Second Law of Motion: dS

(valid in inertial reference frame)

Angular momentum Gravity Moment Aerodynamic/Thrust Moment

ADVANCED CONTROL SYSTEM DESIGN 21

ADVANCED CONTROL SYSTEM DESIGN 22

Applied in inertial frame

ADVANCED CONTROL SYSTEM DESIGN 23

z Thrust forces are typically applied in body

ADVANCED CONTROL SYSTEM DESIGN 24

Modified angular momentum Applied moment

ADVANCED CONTROL SYSTEM DESIGN 28

ADVANCED CONTROL SYSTEM DESIGN 29

Hence, the moment equation is:

ADVANCED CONTROL SYSTEM DESIGN 30

ADVANCED CONTROL SYSTEM DESIGN 31

ADVANCED CONTROL SYSTEM DESIGN 32

ADVANCED CONTROL SYSTEM DESIGN 34

z Assumption: An airplane is symmetric about

Hence, the moment equations are: P R

m (U − VR + WQ ) = −mg sin Θ + ( X + X T )

ADVANCED CONTROL SYSTEM DESIGN 38

ADVANCED CONTROL SYSTEM DESIGN 39

⎡L ⎤ ⎡ Ls ⎤ ⎛ ⎡ Clβ ⎤ ⎡ Clδ A Clδ ⎤ ⎡δ ⎤ ⎞

ADVANCED CONTROL SYSTEM DESIGN 40

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m (U − VR + WQ ) = −mg sin Θ + ( X + X T )