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Lecture 18
Lecture 18
1
Spring 2003 16.61 AC 3–2
• Using a procedure similar to the longitudinal case, we can develop the equa-
tions of motion for the lateral dynamics
v
p δa
ẋ = Ax + Bu , x =
,u=
r
δr
φ
and ψ̇ = r sec θ0
Yv Yp Yr − U
m m m 0 g cos θ0
L
( L v + Izx
Nv ) ( p + Izx
Np ) ( L r + Izx
Nr ) 0
A=
Ixx Ixx Ixx
N
(Izx Lv + N v ) (Izx
Lp + p ) (Izx
Lr + N r ) 0
Izz Izz Izz
0 1 tan θ0 0
where
2
Ixx = (IxxIzz − Izx )/Izz
2
Izz = (IxxIzz − Izx )/Ixx
2
Izx = Izx/(IxxIzz − Izx )
and
(m)−1 0 0
−1
Yδ a Yδ r
0 (Ixx) Izx
B=
−1
· L δa L δr
0 Izx (Izz )
N δa N δr
0 0 0
2
Spring 2003 16.61 AC 3–3
• The code gives the numerical values for all of the stability derivatives. Can
solve for the eigenvalues of the matrix A to find the modes of the system.
−0.0331 ± 0.9470i
−0.5633
−0.0073
– Stable, but there is one very slow pole.
• There are 3 modes, but they are a lot more complicated than the longi-
tudinal case.
Slow mode -0.0073 ⇒ Spiral Mode
Fast real -0.5633 ⇒ Roll Damping
Oscillatory −0.0331 ± 0.9470i ⇒ Dutch Roll
3
Spring 2003 16.61 AC 3–4
Lateral Modes
Roll Damping - well damped.
– As the plane rolls, the wing going down has an increased α
(wind is effectively “coming up” more at the wing)
– The differential lift creates a moment that tends to restore the equi-
librium
– After a disturbance, the roll rate builds up exponentially until the restor-
ing moment balances the disturbing moment, and a steady roll is estab-
lished.
Spring 2003 16.61 AC 3–5
5
Spring 2003 16.61 AC 3–6
6
Spring 2003 16.61 AC 3–7
– Aileron input
3 Large impact on p
7
Spring 2003 16.61 AC 3–8
Rudder Impulse
2
Beta
P
R
Phi
1
−1
−2
−3
−4
0 2 4 6 8 10 12 14 16 18 20
time sec
Figure 1: Rudder impulse to flight variables. The rudder excites all modes. Dutch
roll oscillations dominate initially. The spiral mode dominates longer term.
8
Spring 2003
−0.25 16.61 AC 3–9
−0.15
−0.05
−0.2
−0.1
0.05
0.1
0
0
2
4
6
8
Aileron Impulse
time sec
10
12
14
16
18
Phi
R
P
Beta
20