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Overview
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General Airplane Dynamics Modeling for Control Design Control Design for Airplanes Demonstrations
Airplane Dynamics
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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
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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
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Equations written in body axes Fixed to the airplane, constant inertia Rotating axes nonlinear inertial terms
xb
yb Earth ye ze xe
zb
Rotational kinematics
r r =L
Steady Flight
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r r r r x = f ( x ,u )
r r r r 0 = f ( xo , uo )
un b sta le
T Mo W
D Lt
TRIM
sta ble
r r r r 0 = f ( xo , uo )
r r r x + [ f u ] x r
o ,uo
r u
Linear Models
Linearized model variables are perturbations Linearization naturally decouples dynamics
Longitudinal V r x= q Lateral / Directional p r x =r
r th u= e
r a u= r
Laplace Transform
= ( XV + TV ) V + X g sV +X + T th th e e
+ Z = ZV V + q s
+ M + Mq q sq = MV V =q s
+
+
Z e e
M e e
Modeling Example
Airplane : F-16 c.g. position : 0.2 c (fwd) 10,000 ft 350 kts Flight Condition : 5 AOA
Full Linear Model
2 2 0 . 19 [ s + 0 . 008 ] + 0 . 08 = e [ s + 0. 008] 2 + 0. 07 2 [ s + 1. 3] 2 + 2. 9 2
)(
r + b
Controller
y Plant K SAS
Sensors
M e ePILOT
ePILOT
+ eSAS
e
K
) )
0.18 [s + 0 . 007] 2 + 0. 08 2
r = V DESIRED +
e Controller
th
)(
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design points
Practical Considerations
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Control Effectiveness
Deflection limits High AOA Nonlinearity Actuator Dynamics
Time delay
Control surface rate limits Transport delay
Control Design
Nonlinear Airplane Dynamic Model Linear Design Models
Flight Test
Control Design
Summary
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General Airplane Dynamics Modeling for Control Design Control Design for Airplanes Demonstrations References for Further Study