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Chapter 8
Dynamic stability analysis II Longitudinal motion - 3
Lecture 30
Topics
8.10 Equations of motion in state space or state variable form
8.11 Approximations to modes of longitudinal motion
8.11.1 Approximation to SPO
8.11.2 Approximation to LPO
8.10 Equations of motion in state space or state variable form
The governing equations for the longitudinal motion (Eqs.7.85, 7.86 and
7.87) are ordinary differential equations with constant coefficients. When such
equations are written as a system of first order differential equations, they are
called state space or state variable equations and are written as:
A. X + B.
X
(8.34)
where, X is the state vector, is the control vector and the matrices A and B
contain stability derivatives. The steps for expressing the governing equations of
longitudinal motions in state space variable form are as follows.
The equations of motion are reproduced below for ready reference.
(
d
- Xu )u - X w w + g cos0 = Xe e + XT T
dt
- Zu u + [(1-Z w )
d
d
- Z w ]w-[(u0 + Z q ) - g sin0 ]
dt
dt
= Ze e + ZT T
- Mu u - (Mw
(7.85)
d
d2
d
+Mw ) w + ( 2 - Mq ) = Me e + MT T
dt
dt
dt
(7.86)
(7.87)
To bring out the essential ideas of the state variable form, a simpler set of
equations is used. It is assumed that (a) 0 is zero i.e. the undisturbed flight is a
level flight and (b) Z w and Zq are taken as zero.
Flight dynamics II
Stability and control
(
d
- Xu )u - X w w + g = Xe e + XT T
dt
- Zu u + [
d
d
- Z w ]w - [(u0
)] = Ze e + ZT T
dt
dt
- Mu u - (Mw
d
d2
d
+Mw ) w + ( 2 - Mq ) = Me e + MT T
dt
dt
dt
(8.34a)
(8.34b)
(8.34c)
It is observed that the third equation in the above set (i.e. Eq.8.34 c) involves
second derivative of . But, the state variable form of the equations has only the
d2
first derivative of the dependent variables. To overcome this difficulty, 2 is
dt
(8.35)
= Zu u + Z w w + u0 q +(0) + Ze e + ZT T
w
(8.36)
+ Mw w + Mq q + (0) + Me e + Mt T
q = Mu u + Mw w
(8.37)
= q
(8.38)
It is observed that Eq.(8.37) of this set involves the derivative of w on the right
hand side. This again is not in accordance with the state variable representation
(8.39)
Equations (8.35), (8.36), (8.39) and (8.38) are the alternate form of the governing
equations for the longitudinal motion. These can be written in matrix form as:
Flight dynamics II
Stability and control
Xu
Xw
u
Zu
Zw
w =
q Mu + Mw Zu Mw +Mw Z w
0
0
0
u0
Mq +Mw u0
1
-g u
0 w
0 q
Xe
XT
e
+
Z e
ZT
T
Me +Mw Ze MT + Mw ZT
(8.40)
= A.X + B. where
i.e.,X
u
u
= w ,X = w , = e ,
X
q
q
T
(8.41)
Xu
Xw
0
- g
Zu
Zw
u0
0
A=
Mu +Mw Zu Mw +Mw Zw Mq +Mw u0 0
0
0
1
0
X e
X T
Z e
Z T
B =
M e +Mw Z e M T +Mw Z T
(8.42)
Remarks:
i) The quantities u, w, q and are called state variables and e and t
are called control variables.
ii) When = 0, Eq.(8.41) reduces to:
X = A. X.
(8.43)
(8.44)
Flight dynamics II
Stability and control
( r I A)Xr 0
(8.45)
0
I
0
0 0 0
1 0 0
0 1 0
0 0 1
(8.46)
(8.47)
Thus, rs are the eigen values of matrix A. These are also the roots of the
characteristics equation (Eq.8.9). Thus, the roots of the characteristic equation
can be obtained by finding out the eigen values of matrix A using packages like
Mathematica, Matlab etc.
i)
- 0.045
- 0.369
A =
0.00612
0.036
- 2.02
0
53.64
- 0.1298
- 2.9862
- 9.80665
Flight dynamics II
Stability and control
(8.48)
dq
- (Mw +Mw Z w )w - (Mq +Mw u0 ) q = 0
dt
(8.49)
Zw
w
or
=
q
Mw +Mw Z w
w
Mq +Mw u0 q
u0
(8.50)
M =
u M
1 M 1
M
=
= 0
= u0 Mw
Iyy Iyy (w/u0 ) Iyy w
(8.51)
1
uo
=
Z
q
q (M +M ) Mq +M
u0
(8.52)
Z
u0
Z
-M -M
u0
-1
=0
(8.53)
-(Mq +M )
Flight dynamics II
Stability and control
Z
Z
) + (Mq - M ) = 0
u0
u0
(8.54)
Z
Z
Z
1
[ {Mq +M + } {(Mq +M + )2 -4(Mq -M )}1/2 ]
2
u0
u0
u0
(8.55)
Remark:
Substituting in Eq.(8.55), the values of stability derivatives for the airplane
in example 8.1, gives :
SPO = - 2.503 i 2.594 whereas the exact roots for SPO are -2.508 i 2.577.
d
- Xu )u + g = 0
dt
- Zu u - u0
d
= 0
dt
Xu
u
Or = - Zu
u0
- g
u
0
(8.56)
(8.57)
(8.58)
Zu
u0
Or 2 -Xu+
LPO =
Zug
=0
u0
Zg
1
[ Xu { Xu2 - 4 u }1/2 ]
2
u0
(8.59)
(8.60)
Flight dynamics II
Stability and control
Remarks:
i) Substituting in Eq.(8.60) the values of the stability derivatives for the airplane in
example 8.1, gives :
LP0 = - 0.0225 i 0.257 as compared to the exact value of - 0.01715 i 0.2135
ii) From Eq.(8.60) the damping of LPO is Xu.
It may be recalled that
Xu = -
2 Q S CD
m u0
(8.61)
Since, Xu2 is much smaller than (4Zu g / u0) the frequency (LPO) is roughly equal
to (-Zu g /u0)1/2
Recall that:
Zu = -
2QSCL
2QS 2mg
2g
=
=mu0
mu0
QS
u0
(8.62)
LP0 2
g
u0
(8.63)
Thus, the period of phugoid is proportional to flight speed (uo) or the period is
longer at higher flight speeds. This result is the same as arrived at in subsection
8.9.1.