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{ ( r = ( I L + I N $ {I ( I
xz xx xz
2 2 p = Izz L + Ixz N $ Ixz ( Iyy $ Ixx $ Izz ) p + Ixz + Izz ( Izz $ Iyy ) r q ( Ixx Izz $ Ixz )
yy
$ Ixx $ Izz
[ )r + [ I
2 xz
]}) )] p}q) (I
xx zz
2 I $ Ixz )
" = p + (qsin " + r cos " ) tan # % = (qsin " + r cos " ) sec #
Copyright 2008 by Robert Stengel. All rights reserved. For educational use only. http://www.princeton.edu/~stengel/MAE331.html http://www.princeton.edu/~stengel/FlightDynamics.html
" x1 % "v % " % Side Velocity $ ' $ ' $ ' x2' y' $ Crossrange $ $ ' $x3 ' $ p' $ ' Body * Axis Roll Rate $ ' = x LD6 = $ ' = $ ' x4 ' r' $ Body * Axis Yaw Rate $ $ ' $x5 ' $( ' $ Roll Angle about Body x Axis ' $ ' $ ' $ ' #x6 & #)& #Yaw Angle about Inertial x Axis&
{ ( r = ( I L + I N $ {I ( I
xz xx xz
2 2 p = Izz L + Ixz N $ Ixz ( Iyy $ Ixx $ Izz ) p + Ixz + Izz ( Izz $ Iyy ) r q ( Ixx Izz $ Ixz )
yy
$ Ixx $ Izz
[ )r + [ I
2 xz
]}) )] p}q) (I
xx zz
2 I $ Ixz )
(I L + I N ) p = zz B xz B
(I
xx zz
2 I $ Ixz )
r=
(Ixz LB + Ixx N B )
qN = 0 "N = 0 #N = $ N
" x1 % "v % " % Side Velocity $ ' $ ' $ ' x2' p' $ Body ) Axis Roll Rate $ = x =$ = ' LD4 $x3 ' $r' $ ' Body ) Axis Yaw Rate $ ' $ ' $ ' #x 4 & #( & #Roll Angle about Body x Axis&
(I
xx zz
2 I $ Ixz )
!
!
!
" x1 % "v % " % Side Velocity $ ' $ ' $ ' Body ) Axis Roll Rate $ x 2 ' = x = $ p' = $ ' LD4 $x3 ' $r' $ ' Body ) Axis Yaw Rate $ ' $ ' $ ' #x 4 & #( & #Roll Angle about Body x Axis&
v N = 0; pN = 0; rN = 0; " N = 0
$ *f1 *f1 ' &*v *+R ) & wind *f 2 ) & *f 2 )$"+A(t)' *v & *+R )& + & wind *f 3 )%"+R(t)) *f 3 ( & *+R ) &*v wind *f 4 ) & *f 4 ) *+R ( & %*v wind
YB = CYB
1 " NVN 2 S; Body # Axis Side Force 2 1 2 LB = ClB " NVN Sb; Body # Axis Rolling Moment 2 1 N B = Cn B " NVN 2 Sb; Body # Axis Yawing Moment 2
!
& *v $"v (t)' &*f & ) & 2 p &" (t)) = & *v &"(t) ) &*f 3 r & ) & *v %"# (t)( & &*f 4 % *v
! $ *f1
*f1 *p *f 2 *p *f 3 *p *f 4 *p
*f1 *r *f 2 *r *f 3 *r *f 4 *r
*f1 ' $ *f1 & *# ) ! )$"v(t)' &*+A *f 2 ) & ) & *f 2 *# )&"p(t)) &*+A + *f 3 )& "r(t) ) & *f 3 )& *# %"# (t)) &*+A ( ) & *f 4 *f 4 ) & %*+A *# (
*f1 ' *pwind ) ) *f 2 ) *pwind )$"v wind ' *f 3 )&"pwind ) % ( *pwind ) ) *f 4 ) ) *pwind (
dim("x) = 4 #1 dim("u) = 2 #1 dim("w) = 2 #1
#"u1 & #")A& #Aileron Perturbation& % (=% (=% ( $"u2 ' $")R' $ Rudder Perturbation '
#"w1 & #")A& # Side Wind Perturbation & % (=% (=% ( $"w 2 ' $")R' $Vortical Wind Perturbation'
!
! ! !
"f1 ' "# ) ) "f 2 ) $ Yv & "# ) & Lv = "f 3 ) &N v "# ) & 0 ) % "f 4 ) "# (
(Y
+ wN ) Lp Np 1
(Yr * uN )
Lr Nr tan + N
gcos + N ' ) 0 ) 0 ) ) 0 (
!
#v & # & Side Velocity % ( % ( Body ) Axis Roll Rate % p( = % ( %r( % ( Body ) Axis Yaw Rate % ( % ( $" ' $Roll Angle about Body x Axis'
Spiral-mode response of yaw angle Dutch-roll-mode response of roll and yaw rates Roll-mode response of roll angle
$ "f1 &"#A & "f & 2 &"#A & "f 3 &"#A & "f 4 & %"#A
"f1 ' "#R ) $ Y " f 2 ) & #A ) "#R ) = & L#A "f 3 ) &N#A "#R ) & 0 "f 4 ) % ) "#R (
# "f1 %"v % wind % "f 2 %"v wind % "f 3 % %"v wind % "f 4 % $"v wind
"f1 & "pwind ( ( "f 2 ( # Yv % "pwind ( % Lv = "f 3 ( %N v "pwind ( % 0 ( $ "f 4 ( ( "pwind '
Stability Axes
Alternative set of body axes Nominal x axis is offset from the body centerline by the nominal angle of attack, !N
(Y
+ wN ) Lp Np 1
(Yr * uN )
Lr Nr tan + N
gcos + N '$"v(t)' $ Y,A )& ) & 0 )&"p(t)) & L,A + )& "r(t) ) &N,A 0 )& ) & 0 (%"# (t)( % 0
$ Yv Y,R ' ) & L,R )$",A(t)' & Lv & )+ )%",R(t)( &N v N,R ) & 0 ( %0
!
$"v ' $ ' Side Velocity Perturbation & ) & ) Body * Axis Roll Rate Perturbation &"p) = & ) &"r ) & Body * Axis Yaw Rate Perturbation ! ) & ) & ) %"#( %Roll Angle about Body x Axis Perturbation(
$"#A' $ Aileron Perturbation' & )=& ) %"#R( % Rudder Perturbation ( $"#A' $ Side Wind Perturbation ' & )=& ) %"#R( %Vortical Wind Perturbation(
$"v(t)' $"v(t)' $", (t)' $ "r(t) ' & ) & ) & ) & ) "p(t)) "p(t)) ", (t)) &"p(t)) +& +& +& &"r(t) ) &"r(t) ) & "r(t) ) &"p(t)) & ) & ) & ) & ) %"# (t)(Body*Axis %"# (t)(Stability*Axis %"# (t)(Stability*Axis %"# (t)(Stability*Axis
"# $ "v VN
Side velocity (!v) and pitch rate (!q) are unchanged by the transformation
Roll and spiral mode are primarily described by stability-axis roll rate and roll angle
Stable Spiral
#"x1 & # "r & # Stability + Axis Yaw Rate Perturbation & % ( % ( % ( Sideslip Angle Perturbation %"x 2 ( = %") ( = % ( %"x 3 ( %"p( % Stability + Axis Roll Rate Perturbation ( % ( % ( % ( $"x 4 ' $"* ' $Stability + Axis Roll Angle Perturbation'
FLD
"F = $ DR RS #FDR
DR FRS % " FDR small% "FDR '=$ '($ FRS & #small FRS & # ~ 0
Np Yp VN Lp 1
#"x1 & # "r & % ( % ( %"x 2 ( = %") ( %"x 3 ( %"p( % ( % ( $"x 4 ' $"* '
!
... but are the off-diagonal blocks really small?
G LD
L LD
Np& Yp ( ( VN ( Lp ( 0( '
!
" DR x
$ Nr N# ' $N # ' $ ' $ " ' & $ "r ' N2R r , Yr / Y# )& ) + & Y2R )"2R + & Y# )"# wind = & ) * & )%"# ( & ) & ) %"# ( . +11 % VN ( &- VN 0 VN ) %VN ( % (
$L p ' 0'$"p' $L+A ' )& ) + & )"+A + & )"pwind 0(%"#( % 0 ( %0(
2nd-order-model eigenvalues are close to those of the 4th-order model Eigenvalue magnitudes of Dutch roll and roll roots are similar
Speed and damping of responses is adequately portrayed by 2nd-order models Roll-spiral modes have little effect on yaw rate and sideslip angle responses Dutch roll mode has large effect on roll rate and roll angle responses
With negligible Yr
" n DR = N # + N r $ DR
Y#
VN
& ) Y Y = %( N r + # V + 2 N # + N r # V ' N* N
(C )
n"
Vertical Tail
( )
Vertical Tail
+ Cn "
( )
Fuselage
+ Cn "
( )
Wing
+ Cn "
( )
Vvt =
Propeller
!
!
VTail = Airspeed at vertical tail; scrubbing lowers VTail, propeller slipstream increases VTail #, Sidewash: Deection of ow from freestream direction due to wing-fuselage interference
Fuselage
(C )
n"
Fuselage
!
!
#2K VolumeFuselage Sb
1.3
(C )
n"
Wing
Propeller n effect
!
(C )
n"
( )
Fuselage
+ CY"
( )
Vertical Tail
+ CY"
( )
Wing
Propeller
Function of blade geometry, number of blades, thrust coefcient, and advance ratio J = V/nd ! n = rpm d = propeller diameter
see NACA-TR-819
(C )
Y"
Vertical Tail
# aFin$vt SFin S
2
(C ) (C )
Y" Y"
Fuselage
# %2 SBase S ; SB = &dBase 4
k=
Wing
"AR
1+ 1+ AR 2
( )
$
Vertical Tail
+ Cn r
( )
Wing
Vertical Tail
( )
Vertical Tail
(C )
n r
vt
)
2
= #2 Cn $
( )
rb 2VN
Wing contribution
!
(C )
!
n r Wing
= k 0CL + k1CDParasite,Wing
Cl p " Cl p
( )
Vertical Tail
+ Cl p
( )
=$
Horizontal Tail
+ Cl p
( )
Wing
" RS (s) = s( s # L p )
(C )
lp
Wing
$S = 0 $R = L p
(C )
lp
Wing
#AR 32
(C )
lp
vt
(C )
lp
ht