Dynamic Modeling PDR

Brian Barnett
Rob Benner
Ryan Srogi
John Keune
Alex Fleck
Objectives
Use pitch rate feedback to modify the
longitudinal stability of the aircraft
Do this by increasing the damping ratio of the
short period mode.
Aircraft must be stable with both stabilizing
and destabilizing feedback.


Block Diagram
H
e
(s)

q(s)/o
e
(s)

K
H
g
(s)
E
Elevator
Servo
Short Period
Aircraft
Pitch Rate
Gyro
Feedback
Gain
+
-
o
e
(s)
q(s)
Pilot
Input
Aircraft Dynamic Model
( ) ( ) | |
(

|
|
.
|

\
|
+
|
|
.
|

\
|
+ +
+ +
=
o
o
o
o
o o o o o o o
o
M
U
M Z
s M
U
Z
M s U
M Z Z M s M Z M U
s
s q
q
q
e
e e e e
1 1
2
1
1
) (
) (

Aircraft Transfer Function Using the

Short Period Approximation
Dimensional Derivatives
1
2
2 U F
C qSc
q
M
yy
mq
=
( )
m
C C qS
Z
D l 1
+
=
o
o
yy
m
I
qScC
M
e
e
o
o
=
m
qSC
Z
e
e
L
o
o

=
1
2
2 U I
C qSc
M
yy
m
o
o
=

yy
m
I
qScC
M
o
o
=
sp
sp
n
q
sp
q
n
M
U
Z
M
M
U
M Z
e
,
e
o
o
o
o
2
1
1
|
|
.
|

\
|
+ +
~
~

Natural Frequency and Damping Ratio

9991 . 0
2
/ 25 . 7
1
1
=
|
|
.
|

\
|
+ +
~
= ~
sp
sp
n
q
q
n
M
U
Z
M
s rad M
U
M Z
e

e
o
o
o
o

2 2
2
sp sp
n n sp
s s e e , + +
Gyro Dynamic Model
2 2
2
2
gyro gyro
gyro
n n gyro
n
s
K
e e ,
e
+ +
Airtronics SG-1 Gyro System
Gain K (abs value) < 1.3 deg/(deg/sec)
Actuator Dynamic Model
2 2
2
2
actuator actuator
actuator
n n actuator
n
s e e ,
e
+ +
Futaba S-148 Servo
Tasks Remaining
Find numerical values for the six
dimensional derivatives.
Find the damping ratio and natural
frequency of the servo and gyro.
Write program to find the nominal gain
value.