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Details: Aircraft Flight Dynamics
Details: Aircraft Flight Dynamics
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Point-Mass Dynamics
Aviation History
Configuration Aerodynamics
Flight Performance
6-DOF Equations of Motion
Longitudinal and LateralDirectional Motions
Lecture slides
pdf for current (2010) lecture will be available
on Blackboard after the class
pdfs from all 2008 lectures are available now at
http://www.princeton.edu/~stengel/MAE331.html
Copyright 2010 by Robert Stengel. All rights reserved. For educational use only.
http://www.princeton.edu/~stengel/MAE331.html
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GRADING
! Time Response
! Root Locus Analysis of Parameter Variations
! Transfer Functions and Frequency Response
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Quick Quiz #1
First 5 Minutes of
Second (i.e., next) Class
! Briefly describe the differences between one
of the following groups of airplanes:
! Suggestions
! Use Wikipedia
! Be sure to bring a pencil and paper to class
Airplane Components
Introduction to
Flight Dynamics
Airplane Rotational
Degrees of Freedom
Airplane Translational
Degrees of Freedom
Side Velocity
Normal
Velocity
Axial Velocity
Gliding Flight
Phases of Flight
Configuration Aerodynamics
Pitch Rate
Angle of Attack
Short-Period Mode
Dutch-Roll Mode
Airspeed
Note change in
time scale
Sideslip Angle
Yaw Rate
Pitch Rate
Angle of Attack
Ercoupe
Roll Rate
Roll Angle
Electra
Determine Performance
Time to climb
Minimum sink rate,
Supplemental reference
Airplane Stability and Control, Abzug
and Larrabee, Cambridge University
Press, 2002
Used toward the end of the course
Math Preliminaries
!
! p $
#
&
#
x = # q &; A = #
#
# r &
#
%
"
#"
a
d
g
( 3 ! 1)
"
" x1 %
" 2 %
$
'
$
a = $ !7 ' ; x = $ x2 ' ; y = $
'
$
$
$ x '
$# 16 '&
$
# 3 &
#
a
b
c
d
%
'
'
'
'
&
b
e
c $
&
f &
k &
&
n &%
( 4 ! 3)
x2
x3 #
$
! a d
#
A =# b e
# c f
"
T
l $
&
h m &
k n &
%
g
Mathematical Model of
a Dynamic System
Dynamic Systems
dx(t)
x! (t) "
= f[x(t), u(t), w(t), p(t),t]
dt
Output Transformation
Dynamic Process: Current state depends on
prior state
x
= dynamic state
u
= input
w
= exogenous disturbance
p
= parameter
t or k
= time or event index
y(t) = h[x(t),u(t)]
dim ( x ) = ( n ! 1)
dim ( f ) = ( n ! 1)
dim ( u ) = ( m ! 1)
dim ( w ) = ( s ! 1)
dim ( p ) = ( l ! 1)
dim ( y ) = ( r ! 1)
dim ( h ) = ( r ! 1)
dim ( z ) = ( r ! 1)
dim ( n ) = ( r ! 1)
Examples of Airplane
Dynamic System Models
Nonlinear, Time-Varying
dx(t)
= f [ x(t), u(t), w(t), p(t),t ]
dt
dx(t)
= F(t)x(t) + G(t)u(t) + L(t)w(t)
dt
dx(t)
= f [ x(t), u(t), w(t)]
dt
! ax1 $
&
#
ax = xa = # ax2 &
# ax &
3
%
"
a ( x + y ) = ( x + y ) a = ( ax + ay )
dim ( x ) = dim ( y )
Could we add
(x + a)
Linear, Time-Invariant
Small amplitude motions
Perturbations from an
equilibrium flight path
dx(t)
= F x(t) + G u(t) + L w(t)
dt
Multiplication
Linear, Time-Varying
Nonlinear, Time-Invariant
Large amplitude motions
Negligible change in mass
ax3 #
$
Only if dim ( x ) = (1 ! 1)
Addition
Conformable vectors and matrices are added term by
term
! c $
! a $
;
z
=
x=#
#
&
&
" d %
" b %
! a+c $
x+z= #
&
" b+d %
Inner Product
xT x = x x = ! x1
"
x2
(1 ! m)(m ! 1) = (1 ! 1)
Vector Transformation
"
$
y = Ax = $
$
$
#
! x1 #
&
%
x 3 # % x2 &
$
% x &
" 3 $
= (x + x + x )
2
1
2
2
2
3
(n ! 1) = (n ! m)(m ! 1)
"
$
$
! x dt = $
$
$
#
%
! x1 dt '
'
! x2 dt '
'
! x3 dt '&
" ( 2x + 4x + 6x )
1
2
3
$
$ ( 3x1 ! 5x2 + 7x3 )
=$
$ ( 4x1 + x2 + 8x3 )
$
$# ( !9x1 ! 6x2 ! 3x3 )
% "
' $
' $
'=$
' $
' $
'& #
y1 %
'
y2 '
y3 '
'
y4 '
&
2 4 6 %" x %
1
'
'
3 !5 7 ' $
$ x2 '
4 1 8 '$
x '
!9 !6 !3 '& # 3 &
! 1 0 0 $
&
#
I3 = # 0 1 0 &
#" 0 0 1 &%
y = Iy
AA !1 = A !1A = I
# cos"
AA !1 = % 0
%
%$ sin "
# cos"
=% 0
%
%$ sin "
0 sin "
1
0
0 cos"
!1
&
(
(
('
Matrix Inverse
x 2 = Ax1
Transformation
! x $
! cos'
&
#
#
y
=
&
#
# 0
#" z &%
#" sin '
2
Inverse Transformation
! x $ ! cos'
& #
#
0
# y & =#
#" z &% #" ( sin '
1
Next Time:
Point-Mass Dynamics and
Aerodynamic/Thrust Forces
0 ( sin ' $ ! x $
&#
&
1
0
&# y &
0 cos' %& # z &
%1
"
x1 = A !1x 2
0 sin '
1
0
0 cos'
$! x $
&# y &
&
&#
&% #" z &%
2
... or directly
Errata for the book are listed there
6-degree-of-freedom nonlinear simulation of a business jet
aircraft (MATLAB)
http://www.princeton.edu/~stengel/FlightDynamics.html
http://www.princeton.edu/~stengel/FDcodeB.html
http://www.princeton.edu/~stengel/FDcodeC.html
http://www.princeton.edu/~stengel/PaperPlane.html
http://www.princeton.edu/~stengel/Example261.xls
Helpful Resources
Web pages
http://blackboard.princeton.edu/
http://www.princeton.edu/~stengel/MAE331.html
http://www.princeton.edu/~stengel/FlightDynamics.html