Aircraft Equations of Motion - 2
Rotating frames of reference
Combined equations of
motion
Alternative Reference
Frames
Euler Angle Rates
Euler-Angle Rates
and Body-Axis Rates
Body-axis angular rate
vector (orthogonal)
(
(
(
=
(
(
(
=
r
q
p
B
z
y
x
B
e
e
e
Form a non-orthogonal vector
of Euler angles
(
(
(
u
|
Euler-angle rate vector
I
z
y
x
(
(
(
=
(
(
(
=
e
e
e
u
|
Relationship Between Euler-Angle
Rates and Body-Axis Rates
is measured in the Inertial Frame
is measured in Intermediate Frame #1
is measured in Intermediate Frame #2
(
(
(
+
(
(
(
+
(
(
(
=
(
(
(
u
|
0
0
0
0
0
0
2
1 2 2
H H H
B B
r
q
p
... which is
L
B
I
r
q
p
=
(
(
(
(
(
(
=
(
(
(
u
|
u | |
u | |
u
sin cos sin 0
cos sin cos 0
sin 0 1
Can the inversion
become singular?
What does this mean?
Inverse transformation [(.)
-1
(.)
T
]
B
I
B
r
q
p
L =
(
(
(
(
(
(
=
(
(
(
u | u |
| |
u | u |
u
|
sec cos sec sin 0
sin cos 0
tan cos tan sin 1
Rigid-Body
Equations of Motion
Point-Mass
Equations of Motion
Inertial rate of change of translational position
Body-axis rate of change of translational velocity
Transformation is identical to angular-momentum transformation
B
I
B I I
v H v r = =
B B B
B B I
B
I B B I
B
I B
I I
m
m
m
v F
v F H v v H v
F v
~
1
~
1
~
1
=
= =
=
(
(
(
=
(
(
(
=
w
v
u
f
f
f
B
B
z
y
x
B
v F ;
Rigid-Body Equations of Motion
Rate of change of
Translational Position
Rate of change of
Angular Position
Rate of change of
Translational Velocity
Rate of change of
Angular Velocity
B
I
B I
v H r =
B
I
B I
L =
B B I
B
I B B
m
v g H F v
~
1
+ =
( )
B B B B
-
B B
M I I
~ 1
=
Translational
Position
Angular
Position
Translational
Velocity
Angular
Velocity
I
I
z
y
x
(
(
(
= r
I
I
(
(
(
u
|
(
(
(
=
w
v
u
B
v
B
B
r
q
p
(
(
(
=
Aircraft Characteristics
Expressed in Body Frame
of Reference
Aerodynamic and thrust force
Aerodynamic and thrust moment
Inertia matrix
S q
C
C
C
S V
C C
C C
C C
Z Z
Y Y
X X
B
Z
Y
X
B
Z Z
Y Y
X X
B
thrust aero
thrust zero
thrust aero
B
thrust aero
thrust aero
thrust aero
(
(
(
=
(
(
(
+
+
+
=
(
(
(
+
+
+
=
2
2
1
F
( )
( )
( )
S q
b C
c C
b C
S V
b C C
c C C
b C C
N N
M M
L L
B
n
m
l
B
n n
m m
l l
B
thrust aero
thrust zero
thrust aero
B
thrust aero
thrust aero
thrust aero
(
(
(
=
(
(
(
+
+
+
=
(
(
(
+
+
+
=
2
2
1
M
B
zz yz xz
yz yy xy
xz xy xx
B
I I I
I I I
I I I
(
(
(
= I
Reference Lengths
b = wing span
c = mean aerodynamic chord
Rigid-Body Equations of
Motion: Position
Rate of change of Translational Position
Rate of change of Angular Position
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
cos cos cos sin sin sin cos sin sin cos sin cos
cos cos cos sin sin sin cos sin sin cos sin cos
sin sin cos cos cos
I
I
I
u v w x
y
z
u v w
u v w
u | | u | | u
u | | u | | u
u | u | u
= + + + +
= + + + +
= + +
( )
( )
sin cos tan
cos sin
sin cos sec
p q r
q r
q r
| | u
| |
|
u
| u |
= + +
=
= +
Rigid-Body Equations of
Motion: Rate
Rate of change of Translational Velocity
/ sin
/ sin cos
/ cos cos
rv qw
ru
X
Y
Z
m g
m g
u
v
w
pw
q m g u pv
u
| u
| u
= +
= + +
= + +
Rate of change of Angular Velocity
( ) ( )
{ } ( )
( )
( )
( )
( ) ( )
{ } ( )
( )
2 2
2 2
2 2
1
zz xz xz yy xx zz xz zz zz yy xx zz xz
xx zz xz
yy
xz xx xz yy xx zz xz xx xx yy xx zz xz
I I I I I I I I I I I I I
I I I
I
I
p r q
pr p r
r I I I I I I
L N
M
L I I I I I
p
p N
q
I q r
(
= + + +
(
=
(
= + + +
Mirror symmetry,
I
xz
0
Alternative Reference
Frames
Velocity Orientation in an
Inertial Frame of Reference
Polar Coordinates Projected on a Sphere
Body Orientation with
Respect to an Inertial Frame
Velocity Orientation with
Respect to the Body Frame
Polar Coordinates Projected on a Sphere
Angles Projected on the
Unit Sphere
Origin is airplanes
center of mass
: angle of attack
: sideslip angle
: vertical flight path angle
: horizontal flight path angle
: yaw angle
: pitch angle
: roll angle (about body x ( axis)
: bank angle (about velocity vector)
Velocity-Vector Components
of an Aircraft
V, ,
V, ,
Relationship of Inertial
Axes to Velocity Axes
No reference to the
body frame
Bank angle is roll
angle about the
velocity vector
(
(
(
=
(
(
(
sin
sin cos
cos cos
V
V
V
v
v
v
I
z
y
x
( ) | |
( )
(
(
(
(
+
+ +
=
(
(
(
V v
v v v
v v v
V
z
y y
z y
x
x
/ sin
/ sin
1
2 / 1
2 2 1
2 2 2
Relationship of Inertial
Axes to Body Axes
Transformation is
independent of
velocity vector
Represented by
Euler angles
Rotation matrix
(
(
(
=
(
(
(
z
y
x
B
I
v
v
v
w
v
u
H
(
(
(
=
(
(
(
w
v
u
v
v
v
I
B
z
y
x
H
Relationship of Body
Axes to Wind Axes
No reference to
the inertial frame
(
(
(
=
(
(
(
| o
|
| o
cos sin
sin
cos cos
V
V
V
w
v
u
( )
( )
(
(
(
(
+ +
=
(
(
(
V w
V v
w v u V
/ tan
/ sin
1
2 2 2
o
|
Alternative Frames of Reference
Orthonormal transformations connect all reference frames
Inertial
Axes
Velocity
Axes
Wind
Axes
Body
Axes
Examples from FLIGHT
Longitudinal Transient
Response to Initial Pitch Rate
Bizjet, M = 0.3, Altitude = 3,052 m
For a symmetric aircraft, longitudinal
perturbations do not induce lateral-
directional motions
Transient Response
to Initial Roll Rate
Lateral-Directional Response Longitudinal Response
Bizjet, M = 0.3, Altitude = 3,052 m
For a symmetric aircraft, lateral-
directional perturbations do
induce longitudinal motions
Transient Response
to Initial Yaw Rate
Lateral-Directional Response Longitudinal Response
Bizjet, M = 0.3, Altitude = 3,052 m
Crossplot of Transient
Response to Initial Yaw Rate
Longitudinal-Lateral-Directional Coupling
Bizjet, M = 0.3, Altitude = 3,052 m
Next Time:
Linearization and
Modes of Motion
