MAE 453/553

Lateral Dynamic Stability

Spring 2011 - Hamel

 Simplified Approximate EOMs
Longitudinal EOMs (movement only in x-z plane)
 u   u Xu X u u  X wXww  g cos  00  X  g eu X  T T X  e
e  X T 
w        
Z u  Z w u 0 0 
    1  Z w  w  Z u u  Z w w  Z q  u0 q  g sin
 w Z
 0   Z  Z
 e  e  Z  T T T
  e 
 q   M u  M w Z u M w  M w Z w M q  M w u0 0   q   M  e  M w Z e M  T  M w Z  T   T 
e

    q  M u u  M w w  M w w   M q q  M  e  e  M T  T 

 
   0 0 1 0     0 0 

Lateral-Directional EOMs (movement of the x-z plane)

v  Yv v  Y p p   Yr  u0  r  g cos 0   Y r  r
I xz
p  r  Lv v  L p p  Lr r  L r  r  L a  a
I xx
I xz
r  p  N v v  N p p  N r r  N  r  r  N  a  a
I zz
 System Dynamics in the Complex Plane
i n 1   2

λ1
Exponentially
Decaying
Motion   cos
ϕ
real    n
Damping Level
ωn Dynamically Unstable

ζ=1
“Critically Damped”
λ2 Damping Frequency

ζ=0
Harmonic Motion
imaginary
 Phugoid Mode
Z- Force
or
Altitude

30+ seconds
Z g
n, p   u X- Force
u0
or
 Xu Airspeed
p 
2n , p

Kinetic Energy vs. Potential Energy

 Short Period Mode
Z-Forces
or
Altitude

1-5 seconds
Z
n , sp  M q  M
u0
Z
M q  M  
u0 Angle of Attack
 sp  
2n , sp

Rotation Energy vs. Potential Energy

 Lateral EOMs in Vector Form
• On the Board…
 Longitudinal EOMs in Matrix Form
 v   Yv Yp   u0  Yr  g cos 0   v   0 Y r 
 

v
 p  C L  I xz N
Ix v  CL  p
I xz
Ix
Np C L 
r
I xz
Ix

Nr 
 
 
0   p  C L a  IIxzx N a  C L r  I xz
Ix

N r   a 

 r  C N v  I Lv
I xz
 C N  p
I xz
Iz L  C N 
p r
I xz
Iz L v 0  
 r  C N a  IIxz L a  C N r  I xz
Iz

L r    r 
   z
   z

   0 1 0 0     0 0 
1
where C  2
1  IIxxzI z

 v   Yv Yp   u0  Yr  g cos 0   v 

  v 
 p  C L  I xz N
Ix v  C L  p
I xz
Ix
Np C L  r
I xz
Ix

Nr 0   p 
 

 r  C N v  I Lv
I xz
 C N  p
I xz
Iz L  C N 
p r
I xz
Iz L
v 0   r 
   z
 
   0 1 0 0   
1
where C  2
1  IIxxzI z
Longitudinal EOMs in Matrix Form
 v   Yv Yp   u0  Yr  g cos 0   v 

  v
 p  C L  I xz N
Ix v  
C L p  IIxzx N p   C Lr  IIxzx N r  0   p 
 

 r  C N v  I Lv
I xz
 C N p  IIxzz L  C N
p r  IIxzz L
v 0   r 
   z
 
   0 1 0 0   
1
where C  2
1  IIxxzI z

 v   Yv Yp   u0  Yr  g cos  0   v 
 p   L Lp Lr 0   p 
  v
Ixz ≈ 0  r   N v Np Nr 0   r 
    
    0 1 0 0   

   Yu
   0
Yp
u0

 1  Yur0  g
u0 cos 0   
 
v 0   p 
   p    L Lp Lr
u0  r   N  Np Nr 0   r 
    
    0 1 0 0    
 Pure Rolling Motion
p  L   L p p  Lr r

p  L p p

p  L p p  0
c
m x  mk x  0
k  kc t
  x  Ae
c
λ
  Lp
 Matlab…

Lp = -1.3;
t = [0:0.001:10];
y1 = (1-exp(Lp.*t));
plot(t,y1,'b')
Lp = -1;
y2 = (1-exp(Lp.*t));
hold on
plot(t,y2,'r')
 Pure Yawing Motion
r  N    N p p  N r r

r  N    N r r

   N    N r 
Δψ = -Δβ
  N r   N    0

n  N  2  N r   N   0
 Nr
 
2 N
 Modes of Aircraft Lateral Motion
• 3 DOF in Lateral Motion – 6 Eigenvalues!

– 2 Exponentially Convergent (or divergent) Modes (λ1, λ2)

– 1 Complex Mode (λ3,4)

– 2 Rigid Body Modes (λ5,6 = 0)

A  I  0
 Roll Mode

t=0 t>0

~Lp
Spiral Mode

β disturbance
 Spiral Mode Approximation
   Yu
   0
Yp
u0

 1  Yur0  g
u0 cos 0   
   0   L Lr   
 p    L Lp Lr 0   p  r    N
    N r   r 
 r   N Np Nr 0   r 
     
    0 1 0 0    
 L r 
r  N    r   N r r
 L 
0  1 0 0 0     

 0  L 0 Lr 0  p   N L  L N r 
   r    r r  0
r   N  0 Nr 0  r   L 
 
    
0  0 0 0 1   
N  Lr  L N r L N r  N  Lr
 
L L

N   f (Cn )
N r  f (C Lv )
L  f (Cl )
 Dutch Roll Mode
Similar to Short Period Mode for Longitudinal Motion

Lateral Displacement
 Dutch Roll Mode Approximation
   Yu
   0
Yp
u0

 1  Yur0  g
u0 cos 0   
 
 p    L Lp Lr 0   p 
 r   N Np Nr 0   r 
   u0
Y

 1  Yur0   
         
    0 1 0 0      r   N  Nr   r 

   Yu
   0

0  1  Yur0  0  
 
Y
u0 
 1  Yur0
0

 p    0 1 0 0  p  N Nr  
 r   N  0 Nr 0  r 
    
    0 0 0 1   
Y N r  N  Yr  u0 N 
n , DR 
u0
1  Y  u0 N r 
 DR    
2n , DR  u0 