12/22/2012

Phoenix Aerospace
AAE 451 Fall 2001
1
Dynamic Modeling Preliminary Design
Review
Phoenix Aerospace Stability and Control Team
Brian Darr
Andy Wiratama

12/22/2012
Phoenix Aerospace
AAE 451 Fall 2001
2
Objectives
- Determine the block diagram of the pitch rate feedback control system
- Actuator/servo transfer function
- Rate gyro transfer function
- Aircraft transfer function
- Control law transfer function
- Numerical values for all physical constants in the transfer functions
- Root Locus of the control system

12/22/2012
Phoenix Aerospace
AAE 451 Fall 2001
3











The sign of the gain k
r
is to be selected by the pilot:
Stabilizing = + sign
Destabilizing = - sign
The servo is used to convert voltage (o
v
) to elevator deflection (o
e
)


Servo
Servo
Transfer Fcn
qm(s)
q(s)
Pi tch Rate Gyro
Transfer Fcn
Pi l ot
Command
kr
Feedback Gai n
q(s)
de(s)
Ai rcraft
Transfer Fcn
q
q
m
o
e
u
12/22/2012
Phoenix Aerospace
AAE 451 Fall 2001
4
Transfer Function - Servo
Block Diagram







Transfer Function


2 2
2
2
n n
n e
s s
) s ( U
) s ( D
e + ,e +
e
=
1
defl ecti on
surf ace command surf ace def lection
Futaba S-148 Li near Servo
1
comand
Futaba S-148 Servo Li near Model
1
surface defl ecti on
950
s+40
Transfer Fcn
Sum
s
1
Integrator
1
surface command
40 2
950
2
=
=
n
n
,e
e
For Futaba S-148 servo:
12/22/2012
Phoenix Aerospace
AAE 451 Fall 2001
5
Transfer Function Pitch Rate Gyro
Transfer Function

2 2 2
2
2
n n
n
s
) s (
) s (
e + ,e +
e
=
r m
k

q
q
12/22/2012
Phoenix Aerospace
AAE 451 Fall 2001
6
Transfer Function Aircraft
Short Period Approximation
Roskam, Jan. Airplane Flight Dynamics and Automatic Flight Controls Part 1,
p. 334.
Transfer Function




Note:


( ) ( ) { }

|
|
.
|

\
|
+
|
|
.
|

\
|
+ +
+ +
=

q
e
M
U
M Z
s M
U
Z
M s U
M Z Z M s Z M U
) s (
) s (
e e e
1 1
2 1
1

q
e
M
oe
Pitch angular acceleration per unit elevator angle
M
o_dot
Pitch angular acceleration per unit rate of change of angle of attack
M
o
Pitch angular acceleration per unit angle of attack
M
q
Pitch angular acceleration per unit pitch rate
Z
oe
Vertical acceleration per unit elevator angle
Z
o
Vertical acceleration per unit angle of attack
U
1
Flight velocity in stability axis
12/22/2012
Phoenix Aerospace
AAE 451 Fall 2001
7
Stability Derivatives - SM = 0.15
e h h L m
V C C
h e
t q
o o
=
=
Pitching moment coefficient
due to elevator deflection

Pitching moment coefficient
due to angle of attack

Pitching moment coefficient
due to rate of change of angle
of attack

Pitching moment coefficient
due to pitch rate

Lift coefficient due to elevator
deflection
( )
cg np L m
X X C C
h
=
o o
( )
o
c
q
o o
d
d
X X V C C
cg ac h L m
h
h
= 2

( )
cg ac h L m
X X V C C
h
h
q
=
=
q
o
2
e
h
h L L
S
S
C C
h e
t q
o o
=
= -1.53

= -0.66


= -8.65


= -41.31

= 0.997
Equation Description Value
12/22/2012
Phoenix Aerospace
AAE 451 Fall 2001
8
Stability Derivatives - SM = 0.15
yy
m
I
qScC
M
e
e
o
o
=
Pitch angular acceleration per
unit elevator angle

Vertical acceleration per unit
elevator angle

Pitch angular acceleration per
unit angle of attack

Pitch angular acceleration per
unit rate of change of AOA

Vertical acceleration per unit
angle of attack

Pitch angular acceleration per
unit pitch rate
Equation Description Value
m
qScC
Z
e
e
L
o
o

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

=
( )
m
C C qS
Z
D L
1
+
=
o
o
1
2
2 U I
C qSc
M
yy
m
q
q
=
= -7.78 [(rad/s
2
)/rad]

= -28.89 [(ft/s
2
)/rad]


= -3.33 [(rad/s
2
)/rad]


= -0.544 [(rad/s
2
)/(rad/s)]


= -127.56 [(ft/s
2
)/rad]


= -2.60 [(rad/s
2
)/(rad/s)]
12/22/2012
Phoenix Aerospace
AAE 451 Fall 2001
9

Undamped Natural Frequency






Damping Ratio


o
o
~ e M
U
M Z
q
n
sp
1
sp
n
q
sp
M
U
Z
M
e
|
|
.
|

\
|
+ +
~ ,
o
o
2
1

Note:
e
nsp
= short period undamped natural frequency

sp
= short period damping ratio


0149 . 1
sec
6140 . 3
10 . 0
=
=
=
sp
n
rad
SM
sp
,
e
9751 . 0
sec
7915 . 3
15 . 0
=
=
=
sp
n
rad
SM
sp
,
e
Results
Natural Frequency & Damping Ratio
12/22/2012
Phoenix Aerospace
AAE 451 Fall 2001
10
Root Locus - SM = 0.10
-6 -5 -4 -3 -2 -1 0 1 2
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
Real Axis
I
m
a
g

A
x
i
s
Root Locus for Short Period Approximation - SM = 0.10
Note: only for aircraft
transfer function
12/22/2012
Phoenix Aerospace
AAE 451 Fall 2001
11
Root Locus - SM = 0.15
-7 -6 -5 -4 -3 -2 -1 0 1 2
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
Real Axis
I
m
a
g

A
x
i
s
Root Locus for Short Period Approximation - SM = 0.15
Note: only for aircraft
transfer function
12/22/2012
Phoenix Aerospace
AAE 451 Fall 2001
12
Root Locus
Open loop transfer function has to be find to get open loop root locus
Open loop transfer function = Servo TF * Aircraft TF * Rate Gyro TF
Gain K will be selected after the root locus plot generated
K < Kmax with all the poles in left hand plane