Airplane Dynamics,

Modeling, and Control

Dr. Eugene A. Morelli

NASA Langley Research Center
May 14, 1997

Overview

General Airplane Dynamics

Modeling for Control Design

Control Design for Airplanes

Demonstrations

Airplane Dynamics

The Airplane is a Nonlinear Dynamical System

Newtons 2nd Law for a Rigid Body

Translational Motion :
Rotational Motion :

r
r
p = F
r
r
h = M

Assumptions

Earth is an inertial reference, no curvature

Airplane is a rigid body with lateral symmetry

Thrust acts along fuselage through the c.g.

Still atmosphere (no winds, no gusts)

Constant mass, no internal mass movements

Axis Systems

Equations written in body axes

Fixed to the airplane, constant inertia
Rotating axes

nonlinear inertial terms

xb

yb
Earth
ye

xe
ze

zb

Nonlinear Equations of Motion

Translational motion of the c.g.
r
r r
r
r
r
mV + mV = Faero + F prop + Fgravity

Rotational motion about the c.g.

r
r
r
r
I + I = Maero

Rotational kinematics
r
r
=L

States and Controls

r
a
e
v
q
u
p
r
w

States and Controls

u
V


v



w



r


V p
p


r r
x = = q or q


r

r
r

th


r e
u=
a

r

Steady Flight

Nonlinear Equations of Motion :

Define steady state (trim) :
L

r r r r
x = f ( x ,u )

r r r r
0 = f ( xo , uo )

le

b
sta

un

D
Mo

V
W

sta

Lt

ble

TRIM

Modeling for Control Design

Define steady state (trim) :

r r r r
0 = f ( xo , uo )

Linearize about trim :

r r
r
x = [ f x ] xr

o ,uo

r r
r
x + [ f u ] xr

o ,uo

r
u

Linear model for analysis and control design :

r
r
r
x = A x + Bu

Linear Models
Linearized model variables are perturbations
Linearization naturally decouples dynamics
Longitudinal
V


r
x =
q

r th
u=

e

Lateral / Directional


p

r
x =r

r a
u=

r

Longitudinal Linear Equations

V = ( XV + TV ) V + X g
= ZV V + Z + q
q = MV V + M + Mq q
= q

+ T th th + X e e
+

Z e e

M e e

Laplace Transform
sV = ( XV + TV ) V + X g

s = ZV V + Z + q
sq = MV V + M + Mq q
s = q

+ T th th + X e e

Z e e

M e e

Computing Transfer Functions

s ( XV + TV )

ZV

MV

s Z

s Mq

T th
g V

0
0

=

0
0 q

0
s

X e

Z e th

M e e

Computing Transfer Functions

s ( XV + TV )

X e

ZV

Z e

MV

M e

s Mq

0
X

1
0

s
g

0
=
e s ( XV + TV )
ZV

s Z

MV

s Mq

Modeling Example
c.g. position : 0.2 c (fwd)

Airplane : F-16

Flight Condition : 5 AOA

Full Linear Model

10,000 ft

350 kts

2
2
0.19
[
s
+
0.008
]
+
0.08

=
e [ s + 0.008] 2 + 0.07 2 [ s + 1.3] 2 + 2.9 2

)(

Short Period Approx.

0.19
=
e [ s + 1.3] 2 + 2.9 2

Why Feedback Control?

Modify plant dynamics

Accurate regulation or tracking

Overcome plant uncertainty

n

r +

Controller

y
Plant

K SAS
Sensors

Airplane Control Tasks

Stability Augmentation System (SAS)

Control Augmentation System (CAS)

pitch rate command system
g-load command system

Autopilots (pilot relief)

airspeed hold
altitude hold
heading hold
turn coordination

Choosing Feedback Quantity

Stability Augmentation
q = M + Mq q

M e eSAS + e PILOT

eSAS = K

q = M + K M e + Mq q
14
4244
3
effective M

M e ePILOT

Stability Augmentation System (SAS)

ePILOT

eSAS

e
K

SAS Design Demonstration

c.g. position : 0.2 c (fwd)

Airplane : F-16

Flight Condition : 5 AOA

10,000 ft

350 kts

Short Period Approx.

0.19
=

e [ s + 1.3] 2 + 2.9 2

c.g. position : 0.35 c (nom)

Full Linear Model

0.18 [s + 0.007] 2 + 0.08 2

e [ s + 0.08] 2 + 0.13 2 ( s + 1.8)( s 0.1)

Choosing Feedback Quantity

Regulation or Tracking

r = V DESIRED +

e
Controller

th

Sensor
= 0 to hold trim airspeed

Airplane
V
th

Airspeed Hold Demonstration

Airplane : F-16

c.g. position : 0.2 c (fwd)

Flight Condition : 5 AOA

Full Linear Model

10,000 ft

350 kts

0.17
[
s
+
1.3
]
+ 6.1 2 ( s + 0.8)
V
=

th [ s + 0.008] 2 + 0. 07 2 [ s + 1.3] 2 + 2.9 2

)(

Control System Design

Close feedback control loops

one at a time (classical control)
many at once (modern control)

Use several linear models

design points

Link individual designs (gain scheduling)

Practical Considerations

Control Effectiveness

Deflection limits
High AOA
Nonlinearity
Actuator Dynamics

Time delay
Control surface rate limits
Transport delay

Unmodeled effects
Pilot variability

Control Design
Nonlinear Airplane
Dynamic Model

Linear
Design
Models

Control
Design

Flight Test

Piloted
Nonlinear
Simulation

Nonlinear
Batch
Simulation

Summary

General Airplane Dynamics

Modeling for Control Design

Control Design for Airplanes

Demonstrations

References for Further Study