HORUS X -

SPACE APPLICATIONS : ENTRY VEHICLES

-
Neglect ions for aerodynamic effects

•
No aero elasticity

•
Influence of R N .
included in Oras

coefficient
•
No especial landing aerodynamics
•
No interference effects of He flaps
due to hypersonic regime .

When simplified by
p
•
20
p
> is
,

enearizahon .

OPERA ONAL PARAMETER

-

RANGES :

moments with and

Graphs for pitching
function of
without flaps as a

and Mach are sheen aswell

alpha
.

ATMOSPHERE RE -

ENTRY

IMPORTANT
VELOCITY REGIMES :

HYPERSONIC M > 5

SUPERSONIC I CM C 5

TRANSONIC 0.8 CM C 1.2

SUBSONIC Mcs C effectively me 0.6 )

-
This how He spacecraft looks
is on
reentry .

Banh maneuvers are used to increase

cross
range and for constraint control .
Now -
LINEAR EOM :
TRANSLATIONAL MOTION

I
I ¥ I VD
= -

VE tan
Sp
W VD
IN F RE
.

= -

2rt.VE
.

sins - .
R.sn 8. coss -

je =
Tmd +2ft .

( VD cos 8-IVN.sn 8) t
VI. ( UN .

teams + VD )

VEI
'
✓ D=
Ttm -

zrt.VE
.

cos S -
RER .
cos 'S .
w

ROTATIONAL MOTION

* two plans of mass symmetry .

is
-

II. t

It oh

! ⑤gg⑧B•
is
=f÷t
pr
-

¥÷
in
Pa

here equations are not

for
re-entry : NEXT PAGE
RE .

ENTRY ANALYSIS

Ha

Am

v. .
-
-

Dme t
g. shy + RE .

Ross ( shy .
cos S -

cosy .
sins .

Cos X )

dams 2rtv.coss.sn/2iYIcosytrERwsSCaosy.cosS-siny.aos8.cosX)
M
cosy
yay
t

g
.
-

8. shy )
Vassy :X dsnmh-tzr.tv
cost t
( sins cosy cos .
-

= . .

YIos2ytans.sn/-rEros8.snS.snXi2=h=Vsny
j= E =
V. s " 't .
OH
V. cos X cosy

R .
cos S R

Y
°
± 90
Dynamo
=

Equations For ROTATIONAL MOTION ARE

8 = 900 THESAME

KINEMATIC EQUATIONS

SUMMARY :

For simulation of re -

entry :

( INERTIAL ) CARTESIAN components for

position and velocity .

For analysis entry

of re :
-

Spherical components for translational

motion .

Aerodynamic angles for attitude .

BEWARE !

Flight path angle C ± 900 )

,
Latitude ( I 90 )

Slides lip angle CIAO )

Large angle of attach :

Coopers between role

yaw
During bark reversals
-

,
bank angle coverage of 1200 , creates
Coupling between rudder -
ailerons
This slides Gp produces
large induced angle of slides Ap
.

.
coupeng
with pitch motion .
 LINEARIZATION :

ASSUMPTIONS : Eod

the
Rt = O : Rotation of earth equals O .
Because vehicle is
faster .

Ixz O Mass vehicle

symmetric
= :
.

Ignore smaller terms

ASSUMPTIONS
MORE :
.

8=00 vehicle moves along equator

21=900 8=0
dynamic coupling longitudinal
Eon and lateral motion
,
.

L cosy cos
mg µ
-

£ Cpusa + rsn Ly
Earp
of
.
-
=

MV Wsp

S cosy Shh
-1mg
D=
.

posh a -

roosa -

MV

p .
cost + isnt L -

mg cosy cosh d SIM t Soon

µ
.

=
Earp fan
,
-

y
.

Osp MV mV

coupling between translational and

rotational motion
9 degrees of freedom V, y R p r p
.

:
, , , g , a , , µ
,

Taking firstorder Taylor terms →

gives a coupled differential each ons

We write them as DI =
Asx + Bsu eigenvalues of A gives
motion .

EXAMPLE :
I
METHOD

iz = V. shy Iot Die ( Vo t DV ) -

Sh ( Yo t
Dy )
-

SH Yo
Cosby
COS Yo sin by
.

. t

" "

s Dy

Iot JR -
Vo .

Sanyo t Vo cos Yo .

Dy t
Sing DV cos BUSY
yo
t
.

-
because Second order term
O
of
.

both he nominal
Subs tract from sides .

DR. =
Vows yo by t Sh Yo . AV

:
:c
.

. .
.
a.
I
:÷:÷÷÷÷÷I

¥y to = Sm
yo ¥y= Vo OS Yo DR. = Vows yo by t sin yo .
DV
 LINEARIZATION :

We do He same with He rest of the variables : 9

also nominal forces Do Lo So and moments do Mo No

We get .
, , , ,

SD AL AS AL ,
AM ,
AN
, ,

Central gravity field As

of Foz
-

got
=
:
-

spy
.se#zzo~~Fods-2fIoIDg=.2goARRo

TRANSLATIONAL MOTION
THE OTHER

D= CD I Srey
.
.

9- =
ftp.VZ

small negligible
o , body flap for
trim
only .

Variation due to Mach and angle of attach greatest .

D=
sniffs a fan -

II. I sreft
fine .
.
Seg
with
ME
29 Krazy
Ey
=
f- -2M
=
Road Mo

SD -

( Footy +

2¥ ) Eosessv -7¥ Eosrysx

= HI
MO

NAL STATE SPACE MODEL

 EIGEN MOTION :

x' Ax t Bu

xxctt-E.ae tmi
't

ett
=

Htt ) =

Ah -
-

Th -

xI)n=
CA o la
.
1=0

SUMMARY :

CHECK EXAMPLE OF PENDULUM ON

QECTORE IS :
 APOLLO X -
SPACE APPLICATIONS : ENTRY VEHICLES EIGEN MOTIONS

To points evaluate He eigenvalues

analyze a
eiger motion : select time and

and
eigen motion of stale A matrix .

E- OS te 1196 s

compared to aircraft due to he large velocity and trajectory

Differences
.

are
on eiger modes

Short DERIOD :
longer period .
poorly damped due to low atmosphere
strong
{
damped
+ time t close to aircraft At saas s short period splits
strongly diverging
+ aerodynamic force t
damping time bank
+ t
influence of .

Pau GOD slower I ) unstable ( poorly damped )

ever Ihr period
:

+ time +
damping
bank to Kou pens between he and asymmetric
when changes from 0 non O
symmetric .

LATER ALL OSACLATION : Unstable ,

but similar

Unstable but stable at some time ( 596 s )

+ time -

period @ 396 s two pens between lateral and longitudinal motion .

APERIODIC ROLL MOTION :

Changes @ 396 s
to periodic roll motion with small coupling to d .

becomes dominant
When starts bashing height
.

Next time break two:S aperiodic roll modes 2 stable periodic roll mode
point into
.

up

3 .
two
aperiodic modes C unstable coupled with d)

CONCLUSIONS :

die to oscillatory nature

Control
Similar to
aircraft necessary
.

Not distinguishable eyes modes in open loop

Slower
-

with no atmosphere
simulation .

Coupling between asymotncal and

symotncal .
OTHER CASES : APOLLO

HYPERBOLIC ENTRY VELOCITY

function of M B
•
Aee aoeficicrts are a
,
d , .

•
rt .

-
O

•
f = O
,
8=0 .

I =
900

In this case here are some differences

with the previous A , D matrices :

Extra lens due to Ixz

0
derivatives
Some aerodynamic
are .

No aerodynamic control surfaces .

• he 5
eisen
modes
can not be found .

• Longitudinal and lateral oscillation show coupling .

• t time t high frequency oscillations

• Aperiodic height modes

•
Aee eisen modes are stable

Very short periods

 FORMULA SHEET

Tor F :

by between he ? TRUE
Fey by Wire .
reversible ? FALSE Cep is cause Dd wings

concerti oral airplane negative Cep True

rotates FALSE of
'

fast aircraft ,
Earth non
-

? Uns , ?

Phu sold rate and Unstable spiral proffered over unstable DA True
,
pitch airspeed vary ? False .
?

A more negative Clp leads to more dumped Dutch roll

! False host pilots , unpleasant to
fly if off co True

Newtons laws motion

only valid inertial True
When aircraft dynamically us table must be False for RF

statically unstable
Positive
:

deflections of control surfaces cause

True
Linearized E. on describe exactly motion of Aircraft FALSE
negative roll
pitch
:

, and you :

FALSE
Cyp of an
aircraft , mostly produced by wins
:

Contribution of fuselage to Chp is destabilizing True

Ca and Ck have a significant effect on

False Cmj is used to account for time delay of E hit
True
S. D. M and P M :
he horizontal tail .

less than he undamped True

rogered most casual or

Shifting he Xcs fwd will decrease He False Wn is at

long stability frequency

Wh = Wo .
I
control forces : increases .

-
less Man s
always
I ⇒ -

Table with coefficients :

 AXIS TRANSFORMATIONS :

txt : :: in
:D
I :÷:÷÷
: tf:÷
:
:)
"

TCB but direction

"

From B to C → order invesco same

!
Use hand rule to see if positive or negative
right
.

J D C B

IDA RDC RCB t RBA

D
t
Angular rate of wit .
A → -

from A to B
be broker down into he
usually
it
can stile for
angle !

ig.ZDDtfj.Y@tD.X
Rida
= 1133

We write Z is , Kano × ,
↳ have to be expressed in D

because the
angle rotates about this axes .
Coordinates .

Yo = TCD .

YD Then group into XD ,

Yo ,
ZD .

← wa

Show that

:
a 2
is
From before : RBI = RBs t 222 t R2 I

6 taro ¢ Tan
0
Oya
sin tacos OF
=p t
of RBI if
.

Of XD
. .

* Zz
.

-
t

& cos 0 since r 2 ways

g
= . -
.

÷¥
*
::*
"
# : :::÷÷r
:
or
.

rice
you
have he matrix :
:÷÷÷÷÷;÷÷÷÷

If
how "

go.gg
:!{ so gtfo )
:O
:&
' to w ma "

I
" se
snez.si ooscs ,
=/
. .

,
cos f- I - S ) .
-

sin CS )

1st
.

ii.
.

:÷:÷÷:÷:÷ii÷:÷÷÷:÷÷÷÷g ¥
::*
*
4th : Calculate determinant :
¥ .

f ?! )

From E to E for example Tce = Tco . To . E = Tz C -

I )
.

Ty ( Et 8)

For
'
C role He
mind that right hand C to if we
First keep in

rule must work with E to C SO Pagers from C ' to C we see

that He thumb points opposite

to
that
then from E C
'
we see ,

Thus
,

He same
direction to the Z axis
He fingers
.

if roll
.

in
.

we

thumb
"
"
)
'
C
-

th EE to our
angle moves
Tt ( )
,
as
TCC = -

I
points in the Yc '
direction .. Thus we write . . .

To Ty ( St Ef E only added
> ' '
is
xc E =
.

to S
 AXIS TRANSFORMATIONS :

how obtained Guen Tbt Tet and Teb

Explain a , p and
a
are .

Tbt =
fla ,
Bill Tbt =TgCx) Tzfp ) .
. Tx ( µ -

) from transformations

Tbt = Test .

Tet
- -

lets call it ate this

Tx →

tof

,f§{p
sx.cn
sash
case
.sn
SB -
-

Cd
Cr t

!
.

- .

Tbt
cp.cm -

Cp
.

Sr )
SL Sp cm Icd
Sm & sa sp Sm Cr
. .
-

Cx
.
-

cm

.co# Ty, )
s "
others
Tx ) for the
ccoscxl.cc# (
Csis Same
fancy , ardon
.

= = a =

Tx C 2,2 )

STARTING FROM : arrive to :

DUI F
'

shy
m m
Off D mg
.

=
. -
.
, -

ext
Ot

D mg
.

any
n' V.
off -

L .
m .

g. cosy
.

( a -

FI I
Feit
-

=/ t -

mg
.

cosy
)
jug
- =
of I Vx 't ) .
-

iv.
II
at d t

Explain He following terms acceleration

Coriolis
Is not coriolis dragons
.

.
,

he of He object in a rotating frame

-2M REI x
Voc :
acceleration ,
due to motion

acceleration due to the angular motion of He moving frame

-

m.DE xrccm : Apparent centripetal .

to
How transform Wai into E frame :
then
chain rule and
He
components applying
Differentiating her regular ,

unit vectors
for the time derivatives of he

finding expressions

If ?
ZE
② REE R' where
F= E frame ZE R
dfe=sEecxZE
-

in
-
-

= =

fu

I
DEC = -

SITEEtc t
( Ffg) = TCE Eee
) Zc =
cos SXE -
sin SZE substance

Fund expression ones XE YE CZE !

,
LINEARIZATION :

Find A and B :
IMPORTANT , ALL VARIABLES AFTER DIFFERENTIATION I XI

at:÷:÷÷÷÷÷÷H.i÷÷÷÷÷÷÷H .

Indicate state variables

for read
:
he control variables He assumptions

DX =
[ DV ,
Sd , Ag , Dp ,
Dr ,
Dp ,
.
. .

JT Du .
-

( Da
,
DMT ,
z ,
DMT , y )

¥f=pv
.3I=3EiF
' '
L I
'
I v. sa
Ii I
m
Fu ta I
- -

- .
-

-
-
.

E. In
D. s.co '
g. -

In

=L
µ× -1 Mix I -

Cp 5. . Set diet . → DV '

Cpa Cna ones

Mt
Mz NAN N I.Cn
Sef def
,
-1 't
.

sv.sx.BA
-
.

.
-

Some derivatives :

remember that is always

to
possible
Sink ) Cosa )
Is s' Fix 2¥
¥z= -2¥
→ '
ones
¥
-
's name
=
= -

→
, , 052cm ,
s
-

Sca ) → sin Cx ) ( X
'
)
'
.

Tv
- -
. - -

tank
. -

skosh
-

) →
, cos
'
Cx )

Example
V2
identify variables D= g S CD where g Ep
-

First
. .

:
.

j= -

In .

g. shy
Susa , by #
two DV Dx variables

/ !
In these are

↳
.

, ,

with V
Cos changes with Ivano sa while g changes
.

Then write :
Be
si -

Ful .su
+
Fafsa .
Edo see

all variables
punk
tho after .

¥y/o= -

g. cos
yo

}Ylo= Eons .gg Fulci Ei IT z.so.s.EU

-

.sc
-

.
-

this He Same
these two
is
are desired as above In
Seen '
Dynamic stability :

Start And He coefficients neglected by assumptions

I with equations of motion remove
.

.
.

2 .
Derive He characteristic equation .

Db them by X
If there is Do or ,
substitute

Else add on he diagonals - X

,

X Sc X X
'
X
tf D= C =
t
A
= . - . . . . . .

= . . .
. .

f So is negative the motion is stable If -1¥ c 00 the motion is stable

unstable
If Go is positive the motion is
If 132 -

yac < ⑨ the motion is periodic

↳ need a complex eigenvalue

you .

Formulas add they He values on He problem

eigenvalues when give
.

3. on :

ht " 2)
I TI

E.
D= Tmz ) =
I Can
part
=
V
complex
.

he V R
because if its not g .

complex ,
no period
damping ,
so real part .

5- -

5cm Wn =

¥ Wo -

th 52
Sethi s -

some variants :

because of
Add flight control system : Se =
leg .
add it into the man matrix
9
moved
Also mate sure that coefficients of Se are also .

MOTION TO STATIONARY STRAIGHT FLIGHT

FROM ASSY METRIC EQUATION OF

Db -

Cypt Cao

:÷:c la
Cyp
-

2n b) Db a Cy -4µg

:::::::k÷H÷÷÷÷:h :÷÷
-

"
° .

{ Db
I O
0

:c
:
: :: .

⑤ Yaw rate of 280 des

minute

t÷÷÷:÷÷÷÷k¥H÷t÷:÷÷÷:÷:÷
per
. .
.

:c .÷÷
Mate equations of motion

.
.am
.
.

.
ST can
be added as a variable
Only modify able
.

given !

state variables as state

variables .
Dynamic stability :

sse =
- 0.006

go µ
I .
Which eiger motion ?
because of elevator input .

Either phugoid or short period ,

2. Period I Tmz ) ?

adage
Do .
tune = 16 s Time at
(0-(12-4))=140 s

# periods
Htt
3. Value of static elevator trim stability off ?
Stable ?

§ Ifs basso than O

0.0025
fetnabe.ee
-
.

graph !

C t )
Cnp

÷As
to male dutch role stable

!
SPIRAL f
I
✓ NESTABLE Increase Sv
Cnp
•
, Both ABLE t

/ I
- +
Cnp I •
Mate Cep less negative .

,
I
dihedral
' 11 Decrease

I
/
,
DUTCH ROLL
/
I ONE STABLE
l
I SPIRAL STABILITY :
,
t Cep
•• CURRENT Clp Cn -

Cup Clr > O

I
.
.

I AIRCRAFT !
I
I
I I
I I
Boa

Cesc .

to role
Cnp =
yaw due

For roll motion resolve so Cnp co

a
positive yaw is

He down sons wins

attach In
Wla the airsoft rolling experiences man
angle of
left this
is
to He
that part of He left acts forward , creating a
gaming money
.

meaning

regalia

Eiger modes : o
Spiral motion Dutch role motion :
p
us or

roll Stable
motion Aperiodic
Short period
o

-
0.08
P

#
max
• p ,
r =

° Pho gold oscillation o

Dutch roll
•
0.08 Tc 112 ) =D

3 Deroos

C@oug.ogototp.o
•
•

Rhooth -

Hurwitz criteria : a t

a , o , , o c , , D , o e , o

eigenvalues I
Then all
BCD ADZ -
DIE so
Stability ! TCH )
-

negative
for positive
we
are
.
a yaw
and dutch stable if hrs happens
:

Both spiral have roll !

a
positive
BCD -
.
.
co →
Only spiral stability .
 Static Stability :

s .
Draw he coefficients :
NOT SURE IF NECESARY TO

Find C m snow STEPS FOR

Cf )
'

-
'

2. Cm -
-
Cmaa + Cwu ( ×ac ) cnn.shz.AE .

( VI )

Remember I

3 .
Find Cma
"

NOT VERY GOOD DISTRIBUTION .

Cm
,
= O +
Cw w ,
.

( ×cS ) -

C Nha
.

( I
-

¥2 ) .

Sgd .

¥ ¥) .

C uh between
positive plus Cg
in .

4.
Deve

as
Xnfix

Crown
In here start with this eaeuahon :
,

CN = Cvw -

cnn.SI I → Moet peg by ( ×j× )

cnn.fs.EE/CxnsiE-#).Ssh
¥
'

Cwa : Crow .
-
CN ha .

( s -

off ) .

.
( Yd )

×ns" (
'

② *s" ) I
.
-

.
. -
.

② From point 3 , adapt for Xn fix

'
o =
Cvw . ( ×nH ) -
Wha .

f s -

If ) ( ××h )
.

F. I I

② •

② : th -

-
Xw -

Xh

×ns" =

Eff .

Is III. .

EFFIE
Static Stability :

and
terms of sa
2 .
Derive relation for Cmg fixed in

C Nha .

X -

Xcg that
Sin ( sa ) a
Rs > eh we can say
Since
Tz
Sx =
g. R -

-
V R -

I
9- '
E
Cx -

Xcg )
DL C x Xag )

F.
Eg T
.
= -

II. 9
At He tale
Sah
-

→
=

Fuel ten

bcms-scnh.kz?Ig=Cnhx
for of

Change of CNH due to Dan

scum cnn.CH?E.san . Con . I E. AE

IMPORTANT
.

I
.

¥
Stich fixed lies after stick free

trimmed added Pulls column

horizontal
flight If augmentation
:
Conventional Aircraft during :

with 50N Fe Feet Fears

forward .
=

Remember to change and Cw ]

Xcg if he aircraft
removes weight ! USE FORMULAS !
?
short period motion terms of damping
phu gold and in
release ke
② Effect of weight on

damped He center of gravity Shifts forward

Period reduced better since
.

is ,
He motions are

when IFe to find Stich force stability

REMEMBER ¥u/o has to be found for

would he center gravity be located ?

Where of

Why IS it longitudinally Stable ?

Remember change of ,

to moved
trim due Cg .

in
flight .
 Veil
Is
ELEVATOR TRIM CURVE
Set
ALL CAN BE CHECKED WITH

\
THE FORMULAS APPARENTLY :

Trim curve ( Se .
V ) if :

o
Statically Stable ,
stick fixed 0

o
Cmo 7 O
- - . -
- - - - - .
-

Cmo > O

Fett Vlt
Steo )
" "

U
Control force )
curve C Fe -
V if :

)
a
Statically unstable ,
stick free

o Ste C
Steo

VARIANTS :

want
we E= O

So we can hare

Shu free