&

REPORT NO.

1314

EQUATIONS OF MOTION FOR A MODIFIED POINT MASS TRAJECTORY

by
Robert F. Lieske Mary L. Reiter

March 1966
Distribution of this document is unlimited.

U. S. ARMY MATERIEL COMMAND

BALLISTIC RESEARCH LABORATORIES

ABERDEEN PROVING GROUND, MARYLAND

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BALLISTIC

RESEARCH

LAI<ORATORIES

REPORT NO. 1314

MARCH 1966

Distribution of this document is unlimited.

EQUATIONS OF MOTION FOR A MODIFIED POINT MASS TRAJECTORY

Robert F. Lieske Mary L. Reiter

Computing Laboratory

RDT & E Project No.

IP5238O1A87

ABERDEEN PROVING

GROUND, MARYLAND

BALLISTIC

RESEARCH

LABORATORIES

REPORT NO. 1314

RFLieske/MLReiter/vm Aberdeen Proving Ground, Md. March 1966

EQUATIONS OF MOTION FOR A MODIFIED POINT MASS TRAJECTORY

ABSTRACT

A modified point mass mathematical model which incorp )rates an estimate of the yaw of repose, has been developed to represent the flight of a spin stabilized, dynamically stable, artillery shell. This

improved mathematical model has the desirable feature of representing the effects of the significant variables of yaw of repose and axial spin along the trajectory.

TABLE OF CONTENTS

Page Abstract .............. Table of Symbols ........................ Introduction ...... ..... ..... ........................... ............. .... .Z 13
19

...................

3. 7 11

Basic Laws of Motion of a Rigid Body ...... Estimate for Yaw of Repose .......
Utilization ............................

..................

Conclusions ...... References .....

....... ...............

...

........................... .... .............. ..

2Z .23 Z5

Distribution List .................

........................

SKVIWS PAME WAS StANE T132701

WAS NOT 711.MW

TAB.tE OF SYMBOLS T errm A AZ B Cs d E Definition Axial moment of inertia Azimuth of line of fire (clockwise from north) Transverse moment of inertia Ballistic coefficient for standard mass Reference diameter of projectile Position of projectile with respect to spherical Earth surface Acceleration due to gravity Acceleration due to gravity (surface) Total angular momentum Unit vector in the direction of v Spin damping moment coefficient Drag force coefficient Yaw drag -- rce coefficient Magnus force coefficient Damping moment coefficient Lift force coefficient
MJ

Units lb-ft2 mil lb-ft2 lb/in2 ft ft ft/s ec 2 ft/sec lb-ft

2

"go2
H I KA K KDa KF KH K1L KM -,KS S K TMagnus

rad/sec

Overturning nmoment coefficient Pitching force coefficient mornent coefficient

Term

Definition

Units

1
L M m

Lift factor
Latitude of launch Mach number Projectile mass lb deg

ms

Standard projectile mass

lb

N
Q r

Axial spin
Yaw drag factor Distance between center of Earth and projectile

rad/sec

ft

Effective radius of Earth

Time

ft
sec ft/sec ft/sec

u v

Velocity of projectile with respect to ground Velocity of the projectile with respect to air

w x

Velocity of the air with respect to ground Unit vector along the longitudinal axis of the projectile
Position of the projectile with respect to a ground-fixed coordinate system Angle of yaw of projectile Approximation for yaw of repose Coriolis acceleration due to rotation of the Earth Air density as a function of E a component of E) (where E is

ft/sec

ft

a ae A

rad rad ft/sec 2

3 lb/ft

Term

Definition

Units

Angular velocity of the Earth First derivative with respect to time Second derivative with respect to time

rad/sec -/Sec
--

2sec

I'

?'ftVICvSs-A

WASi W-IM 7MweZ WznASnXM WTs iir

INTRODUCTION

The mathermatical model for rigid body trajectory simulation, as reported in BRL Report No. 1244, closely matches the results of physical experiments of spin--stabilized projectiles over a spectrum of test conditions. simulations, However, its usefulness, as in most rigid body

is hindered by the time required to numerically solve This report describes the der-

the system of differential equations.

ivation of a mathematical model which will not be as time consuming to solve as the rigid body system, but which will represent as 'losely as possible the center of gravity motion of the projectile by utilizing a force system, axial spin and an estimate of the yaw of repose.

*11
I1

itt

BASIC LAWS OF MOTION OF A RIGID BODY

The frame of reference for all vectors to be presented is a groundfixed, right-handed Cartesian coordinate system with unit vectors (I,
to

2, 3). Assume the 2 axis to be parallel to the vector g,

have the same direction as 1 X 3 =
-

and g

2.

Assume that the body can be considered a solid of revolution.

Then

spin-stabilized projectiles can be oriented by choosing a unit vector x along the axis of symmetry, pointing from tail to nose. nitude of angular velocity parallel to x. N is the mag-

N is positive if it results from

a rotation causing a right-handed screw to advance in the direction of

X.

The following set of simultaneous differential equations of motion for a spin-stabilized projectile is developed in BRL Report 1244. The equation of motion of the center of mass is: (1.1) C -m(Ko m
m _m
2 [ vX (xv) + az KD ) vv+pd 2K _. W m L a Do0

-pd K_ v

+ pd 3KN

(xX

v)+ g +A
-P
-0
-

The total angular momentum of the body can be expressed as the sum of two vectors in the ground-fixed coordinate system:
(a) The angular momentum about x.

(b) The total angular momentum about an axis perperdicular to x. The angular momentum about x can be represented by the vector A N x and the angular momentum about an axis perpendicular to x by the vector B (x X k).

12

Let H denote the total angular momentum of the body. representation of H is: (1.2) H= ANx + B (xX;)

The vector

The vector rate of change of angular mo:n, .itum is the sum of the applied moments. (1.3) T. = ANx + ANc_ pd3KMv (vX x) 3
T
-

+ B (x X pd4K 1 1 v (xX _i1 4

A~

+pd4KTN [xX (xX v)]pdKAN

vx

ESTIMATE FOR YAW OF REPOSE An estimate for the yaw of repose will be derived from the rigid body system of differential equations of motion for the purpose of representing the effects of yaw. The following conditions are assumed: (1) The projectile can be represented sufficiently well as a body of revolution. (2) (3) The projectile i-. dynamically stable. Initial yaw is assumed small, i. e., it has no sigr.ificant

effect on the trajectory. Examination of equation (1. 1) shows the magnitude I x X v

as being present in the lift term and the Magnus term, the lift term being more significant. Examination of equation (1. 3) shows its

presence also in the corresponding terms of H. If I v /v, then

xX

I I - sin a.

To a first order approximation,

13

this is a ; however, quantity than a.

for computational purposes it is a more desirable

To get the proper orientation of this quantity, the

following vector will be defined:

(2.1)

ae-I

X(xXI)= x -cos I = 0.

aI

Obviously, ae toward x.

a e represents vector yaw * directed from -I -+e

The effect of a e on the trajectory is generally small under Furthermore, it will be assumed that je is is small; moreover, the following approx-

the assumptions stated. negligible.

This implies ,

imations are warranted: (2.2) (2.3) C =cosai cos a

The separation of H into ,:cmnponents parallel and perpendicular to x yields: (2.4) Al= (2.5) ANk -pd 4 K ANv 3 pd3 K + pd K V(VvX x) N [xX (X Av)]

+ B (xX x) v (xX i)

p 4 K4 - pd4K

To determine ae'

first replace x and its derivatives in (1. 1) and

(2. 5) using equations (2.1), (2. 2) and (Z. 3).

* NOTE:

Iel a

a.

However, as mentioned earlier, ;n magnitude a is in the plane Hence, a

%e I is a first-order approximation for yaw. determined by x and I,

in the direction from I toward x.

will be referred to as vector yaw.

1411

The resulting equations are:

(2. 6)

-pd

(KD + aKD )v

D1o

pd 2 K v2

Lm

pd 3 Ksv cos a
m

+ pd

KFNV (a Nag

I)

+ A

(2.7) AN cos al+ B cos a(a 3 =pd KMv 2 (I 4 Xa.) +pdK

) + B Cos2alIXY) 2i Nv [cosa (ae+ c)s aI)-

v cos a [(e Cross multiplication by I

+ cos a )Ix

of both sides of equations (2. 6) and (2. 7) solution

and, with A negligible in comparison to g, the simultaneous of the resulting equations gives the following for

a ie

+Pd

8 2V 2 [-ANcos a (IXI+Bcos fl
T5

2 agIpK( ix!
S
7
O

Ix ]

rF os

d4K + pdK 22 +pdl

v 2s [- A

'1"

{Zgd

KFKTN

2 2

3d42 [pd KMv + B Cos a

722

KLv

15

jt

--

I
it

For f urther substitution into (2. 8) the following are required:

II

(2.

)1

(210)=

[t-1~
I/v

/v /i +

[x

x
21 1(.) /v2

]/v

(21v =-(z +V/v-(

ir )I/v-(2

1)/

(2.12)

V/vQ-'

)_I/v

[1X

xI)]/v
can be approximated

(2. 12) will be considered negligible since i

by V, and U is essentially parallel to

With this assumption, (2.13)Ce= f-AK Ncosa (vX'i +md T. cos a [v{ig

+ pd3K

cosa </m)]
I"

- KL'-U

".

ZB cosa.
r 3 4

2 2 4 - Pd Ku cos a v]

2 cos a v

lpd KLKMv +KLBcos

L
o

+ pd K FK TN

In the denominator of equation (2. 13) the v

therefore, K B cos a (
.

term predominates

will be considered negligible.

The ratio of this term to the remaining terms in the denominator is of the order of (g /v 4). of In the numerator,

[I-

('"

I) I] is the component

perpendicular to the projectile flight in the air coordinate system.

16

For most spin stabilized trajectories the magnitude of g; hence, consider

I)- I)1 is no more than

(2.14)

KL [V-

(.

I)I][

2Bcos

a(v.

I)

-pd K

cos

av

2 K [ 2 B cos a ( I

d4K p Kcos

2 a v2 ]

For artillery shells,

this term is generally bounded by

(2. 15) KL

jg j

2 B

(10g1)

ZOKL Bg2

Now

(2.16'

'AK
*1

N'(vX A+

d2 KN

X
vXv{isin

g
+ AKgLsin

L'
Nv {-

'

mdZ KT[
K L

AKL+ md

pdd

where

cos

.v

g v
For artillery shells, it is usually true that

(2.17)

fAK

md 2 K

IK.

pdv

<<

AK

gsinI .17 01Lg

17

Comparison of (2. 15) and (2. 17) shows that the ratio of (2. 14) to (2.16) is less than the order of (Zog be considered negligible. /Nv). For high spin, (2. 14) will

Let (2. 18) v uw

(2. 19)

v=u.-w

If the effects of the pitching force (KS term) and w are assumed insignificant, and cos a can be approximatecd by 1, equation (2. 13) is reduced to

(-AKL
(2. Z0

ae

+ N (vXd) +mmd KTN

[xvX

-g)]

e3

4 5 v pd3K K LpdKF+ pd5K

2 TI N v

18

UTILIZATION The primary goal of the development of a.e was the acquisition of a mathematical model which would incorporate the effects of yaw, but would not require the computing time of a complete r'..gid body simulation. The following representation was devised to incorporate ae in a

modified point-mass mathematical model.

This representation includes

auxiliary equations necessary for the numerical solution of the differential equation of motion of the center of mass. The equation of motion of the center of mass is: (3.1)*u= Pm 144C s m {D o +KD [K Q a +.g + A ] vv

+PdZ
in

KL vZ le

IT + _L KF N Q(a eXv. mn

where:

C
s

= ballistic coefficient for standard mass

1 = lift factor m = projectile mass m s = standard projectile mass Q= yaw drag factor

*Note: If Q and 1 are set to zero (0) in equation

(3. 1), this system

reduces to the classical point mass equations cf motion.

19

I
The axial spin is: 1,3.2z) N=-

YO
t p A 4 -

K ANy

The approximation for the yaw of repose is: (3.3) a =a

= a

a ) (vX

(Xg) ()

where: a

AKL N Pd3KLKKv + pd5 K K N v2

rn KTN

T 4 pd KLKM v 2 2 3 + pd3K FK TNv

The velocity of the projectile with respect to air is:

(3.4) v= u -vw
The position of the projectile with respect to ground-fixed Cartesian coordinate system is: (3.5) X u dt

The approximation for the position of the projectile with respect to spherical Earth surface is:

"X 1
(3.6) E X +R. - (Rz - X 2/2

x3 where Reffective radius of Earth.

20

The approximation of the force of gravity is:

(3. 7)-go-90
r -x [X

-32
1

+R
2 ++R) +x 3 2 ] 1/

where go = value of gravity at point of launch r = distance between center of Earth and projectile

The Coriolis acceleration due to rotation of the Earth is : X1 U2 -XZu

3

(3.8) A

LU X
1z 1

Xu
3u3

For the northern hemisphere, equations. 2 2

the X's are defined by the following

(

[For the southern hemisphere replace L by 02 cos L sinAZ

L).

Q sin L

3=
where:

12 cos L cos AZ

0 = Angular velocity of the Earth (radians/sec)

L= Latitude of launch point AZ= Azimuth of fire measured clockwise from north
The orientation of yaw (') is the angle between the plane containing It is measured clock-

both vand ae and a vertical plane containing v. wise from the vertical plane. If desired,

T is given by the expression:

-1
(3.9) T = tan
[(VI

(Vla-a
e3 v
)

" r v1t I

)v
vZa e 3 2

1
v
3

a)Zv

21

m mm m m

The dimensionless aerodynamic coefficients are functions of nmany dimensionless power products, including the dimensionless shape Aerodynamic coeffi-

parameters, Reynolds number and Mach nunmber.

cients are defined with reference to a specific set of shape parameters and may be expressed as functions of Mach number.

CONCLUSIONS

A modified,

point-mass mathematical model has been developed This improved

which incorporates an estimate of the yaw of repose.

mathematical model has the desirable feature of representing the- effects of the significant variables of yaw of repose and axial spin along the trajectory. By the incorporation of this yaw of repose, the factors (ballis-

tic coefficient, yaw drag factor and lift factor) used to match empirical results have been found to vary little from theoretically determined values over the spectrum of conditions. In comparisons between the rigid body mathematical model, the most complete representation available, and point-mass representation, the modified point-mass model accounted for better than 90 percent of the discrepancies in the time-dependent variables range, height and deflectior. These comparisons were made for spincurrently being used by the U. S. Army.

stabilized artillery Lourds

The modified point-mass model solution required only approximately twice the computation time of the point-mass solution while the rigid body solution requites about one hundred to one thousand times that of the point-mass solution.

22

REFERENCES 1. Lieske, R. F., Projectile, 2. McShane, E. and McCoy, R. L., Equations of Motion of a Rigid

BRL Report No. J., Kelley, J.

1244, March 1964. L., and Reno, F., Exterior Ballistics.

University of Denver Press, 1953.

23

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2a. REPORT SECURITY C LASSIFICATION

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3. REPORT TITLE

EQUATIONS OF MOTION FOR A MODIFIED POINT MASS TRAJECTORY

4. DESCRIPTIVE NOTES (Type of report and inclusive date&)

5. AUTHOR(S) (Last name. first name, initial)

Lieske,

Robert F. and Reiter, Mary L.

17a. TOTAL NO. OF PAnFS 7b. NO. OF REFS

6. REPORT DATE

March 1966
Be. CONTnACT OR GRANT NO.

26=
9s. ORIGINATOR'S REPORT NUMSER(S)

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131h

b. PROJECT NO.

RDT&E

1P523801A287

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C. d.

9b. OTHER REPORT NO(S) (Any othernumbers that may be vsaigned this report)

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Distribution of this document is unlimited.

I1. SUPPLEMENTARY NOTES 12. SPONSORING MILITARY ACTIVITY

U.S. Army Materiel Command Washington, D.C.

13. ABSTRACT

A modified point mass mathematical model,which incorporates an estimate of the yaw of repose, has been developed to represent the flight of a spin stablized, dynamically stable, artillery shell. This improved mathematical model has the desirable feature of representing the effects of the significant variables of yaw of repose and axial spin along the trajectory.

DD

I JAN 64

1473

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14.KEY K WORDS WORDS LINK ROLE A WT LINK ROLEI B WY LINK C ROLE WT

Equations of motion
Point mass mathematical model Estimate of the yaw of repose Axial spin

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