Introduction A/C Motion S/C Motion Flight Dynamics Problems Annex I

Advanced Flight Mechanics

1.9 Discussion Equations of Motion

Manuel Sanjurjo Rivo

Master in Aeronautical Engineering

Escuela Politécnica Superior
Área de Ingenierı́a Aeroespacial

Master in Aeronautical Engineering - Manuel Sanjurjo Rivo Advanced Flight Mechanics - General Equations of Motion
Introduction A/C Motion S/C Motion Flight Dynamics Problems Annex I

Outline

1 Introduction

2 Aircraft Motion

3 Spacecraft Motion

4 Flight Dynamics Problems

5 Annex I

Master in Aeronautical Engineering - Manuel Sanjurjo Rivo Advanced Flight Mechanics - General Equations of Motion
Introduction A/C Motion S/C Motion Flight Dynamics Problems Annex I

Dynamical Model

So far:
Relevant reference frames for motion: ECI and body fixed RF
(intermediate may also be relevant)
Vehicle = Rigid Body → Constant shape
Effect of actuators (not modeled yet)
Aerodynamic actions (not modeled yet)
Mathematical model
Set of 12 coupled ordinary differential equations
Problem of initial conditions: closed problem when model for
aerodynamics (A/C)

Master in Aeronautical Engineering - Manuel Sanjurjo Rivo Advanced Flight Mechanics - General Equations of Motion
Introduction A/C Motion S/C Motion Flight Dynamics Problems Annex I

Hypothesis

The vehicle is a rigid body.

The Earth is a sphere rotating on an axis fixed in inertial space
Gravitational acceleration is a constant radial vector g
The atmosphere is at rest relative to the Earth
The topocentric reference frame is quasi-inertial (Flat Earth
approximation)

Master in Aeronautical Engineering - Manuel Sanjurjo Rivo Advanced Flight Mechanics - General Equations of Motion
Introduction A/C Motion S/C Motion Flight Dynamics Problems Annex I

Set of equations

Dynamics

X − mg sin θ = m u̇E + qwE − rv E

Y + mg cos θ sin φ = m v̇ E + ruE − pwE

Z + mg cos θ cos φ = m ẇE + pv E − quE

L = Ix ṗ − Izx ṙ + qr (Iz − Iy ) − Izx pq

M = Iy q̇ + pr (Ix − Iz ) + Izx p2 − r2

N = Iz ṙ − Izx ṗ + pq (Iy − Ix ) + Izx qr

Master in Aeronautical Engineering - Manuel Sanjurjo Rivo Advanced Flight Mechanics - General Equations of Motion
Introduction A/C Motion S/C Motion Flight Dynamics Problems Annex I

Set of equations

Kinematics
ẋE = uE cos θ cos ψ + v E (sin φ sin θ cos ψ − cos φ sin ψ) +
+wE (cos φ sin θ cos ψ + sin φ sin ψ)
ẏ E = uE cos θ sin ψ + v E (sin φ sin θ sin ψ + cos φ cos ψ)
+wE (cos φ sin θ sin ψ − sin φ cos ψ)
ż E = −uE sin θ + v E sin φ cos θ + wE cos φ cos θ

φ̇ = p + (q sin φ + r cos φ) tan θ

θ̇ = q cos φ − r sin φ
ψ̇ = (q sin φ + r cos φ) sec θ

Master in Aeronautical Engineering - Manuel Sanjurjo Rivo Advanced Flight Mechanics - General Equations of Motion
Introduction A/C Motion S/C Motion Flight Dynamics Problems Annex I

Hypothesis

The vehicle is a rigid body.

The Earth is a sphere.

Master in Aeronautical Engineering - Manuel Sanjurjo Rivo Advanced Flight Mechanics - General Equations of Motion
Introduction A/C Motion S/C Motion Flight Dynamics Problems Annex I

Set of equations

Dynamics

µxE
X −m = mv̇x
r3
µy E
Y −m 3 = mv̇y
r
µz E
Z −m 3 = mv̇z
r
Ix ω̇x − (Iy − Iz ) ωy ωz = Mx
Iy ω̇y − (Iz − Ix ) ωz ωx = My
Iz ω̇z − (Ix − Iy ) ωx ωy = Mz

Master in Aeronautical Engineering - Manuel Sanjurjo Rivo Advanced Flight Mechanics - General Equations of Motion
Introduction A/C Motion S/C Motion Flight Dynamics Problems Annex I

Set of equations

Kinematics

ẋE = vx
ẏ E = vy
ż E = vz
φ̇ = p + (q sin φ + r cos φ) tan θ
θ̇ = q cos φ − r sin φ
ψ̇ = (q sin φ + r cos φ) sec θ

Master in Aeronautical Engineering - Manuel Sanjurjo Rivo Advanced Flight Mechanics - General Equations of Motion
Introduction A/C Motion S/C Motion Flight Dynamics Problems Annex I

Type of Problems

Calculation of performance
Speed, height, range, fuel consumption, ...
Calculation of trajectory
Launch, reentry, orbital, landing, ...
Stability of motion
Controls fixed
Disturbance of given equilibrium. Controls locked c = c0
Linearization of set of ODEs around equilibrium
Controls free
Of interest for manually controlled airplane
Variation of controls function of the interaction with
aerodynamic forces
Automatic controls
Airplane under control of AFCS (not fixed nor free)
c determined by feedback loop

Master in Aeronautical Engineering - Manuel Sanjurjo Rivo Advanced Flight Mechanics - General Equations of Motion
Introduction A/C Motion S/C Motion Flight Dynamics Problems Annex I

Type of Problems

Response to controls
Determine effectiveness of controls
Response to atmospheric turbulence
Inverse problems
Given the motion, which are the required controls?

Master in Aeronautical Engineering - Manuel Sanjurjo Rivo Advanced Flight Mechanics - General Equations of Motion
Introduction A/C Motion S/C Motion Flight Dynamics Problems Annex I

Effect of Spinning Rotors

Portions of the airplane (rotors, propellers) have an angular
momentum relative to body axes
Relative angular momentum can be computed as rotor rigid
0
body, h
Tensor of inertia of the rotor w.r.t. body axes Cxyz
Angular velocity of the rotor relative to the airplane
Assumed to be constant
Total angular momentum
0
hB = IB ω + h
Additional terms in Euler’s equations
0 0
L = Ix ṗ − Izx ṙ + qr (Iz − Iy ) − Izx pq + qhz − rhy
0 0
M = Iy q̇ + pr (Ix − Iz ) + Izx p2 − r2 + rhx − phz


0 0
N = Iz ṙ − Izx ṗ + pq (Iy − Ix ) + Izx qr + phy − qhx
Master in Aeronautical Engineering - Manuel Sanjurjo Rivo Advanced Flight Mechanics - General Equations of Motion