Copyright 2012 by Robert Stengel. All rights reserved. For educational use only. http://www.princeton.edu/~stengel/MAE331.html ! Dynamics & Control of Atmospheric Flight ! Conguration Aerodynamics ! Aircraft Performance ! Flight Testing and Flying Qualities ! Aviation History Details Lecture: 3-4:20, D-221, Tue & Thu, E-Quad Precept (as announced): 7-8:20, D-221, Mon Engineering, science, & math Case studies, historical context ~6 homework assignments Ofce hours: 1:30-2:30, MW, D-202, or any time the door is open Assistants in Instruction: Carla Bahri, Paola Libraro: Ofce hours: TBD GRADING Assignments: 30% First-Half Exam: 15% Second-Half Exam: 15% Term Paper: 30% Class participation: 10% Quick Quiz (5 min): ?% Lecture slides pdfs from all 2010 lectures are available now at http://www.princeton.edu/~stengel/MAE331.html pdf for current (2012) lecture will be available on Blackboard after the class Syllabus, First Half ! Introduction, Math Preliminaries ! Point Mass Dynamics ! Aviation History ! Aerodynamics of Airplane Congurations ! Cruising Flight Performance ! Gliding, Climbing, and Turning Performance ! Nonlinear, 6-DOF Equations of Motion ! Linearized Equations of Motion ! Longitudinal Dynamics ! Lateral-Directional Dynamics Details, reading, homework assignments, and references at http://blackboard.princeton.edu/ Syllabus, Second Half ! Analysis of Linear Systems ! Time Response ! Root Locus Analysis of Parameter Variations ! Transfer Functions and Frequency Response ! Aircraft Control and Systems ! Flight Testing ! Advanced Problems in Longitudinal Dynamics ! Advanced Problems in Lateral-Directional Dynamics ! Flying Qualities Criteria ! Maneuvering and Aeroelasticity ! Problems of High Speed and Altitude ! Atmospheric Hazards to Flight Text and References Principal textbook: Flight Dynamics, RFS, Princeton University Press, 2004 Used throughout
Supplemental references Airplane Stability and Control, Abzug and Larrabee, Cambridge University Press, 2002 Virtual textbook, 2012 Stability and Control Case Studies Ercoupe Electra F-100 Flight Tests Using Balsa Glider and Cockpit Flight Simulator Flight envelope of full-scale aircraft simulation Maximum speed, altitude ceiling, stall speed, Performance Time to climb, minimum sink rate, Turning Characteristics Maximum turn rate, Compare actual ight of the glider with trajectory simulation Assignment #1 due: Friday, September 21 Document the physical characteristics and ight behavior of a balsa glider. Everything that you know about the physical characteristics of the glider. Everything that you know about the ight characteristics of the glider. Luke Nashs Biplane Glider Flight #1 (MAE 331, 2008) Can determine height, range, velocity, ight path angle, and pitch angle from sequence of digital photos (QuickTime) Luke Nashs Biplane Glider Flight #1 (MAE 331, 2008) Electronic Devices in Class Silence all cellphones and computer alarms If you must make a call or send a message, you may leave the room to do so No checking or sending text, tweets, etc. No social networking No surng Pencil and paper for note-taking American Institute of Aeronautics and Astronautics largest aerospace technical society 35,000 members https://www.aiaa.org Benets of student membership ($20/yr) Aerospace America magazine Daily Launch newsletter Monthly Members Newsletter, Quarterly Student Newsletter Aerospace Career Handbook Scholarships, design competitions, student conferences MAE department will reimburse dues when you join i.e., its free! Goals for Design Shape of the airplane determined by its purpose Handling, performance, functioning, and comfort Agility vs. sedateness Control surfaces adequate to produce needed moments Center of mass location too far forward increases unpowered control-stick forces too far aft degrades static stability Conguration Driven By The Mission and Flight Envelope Inhabited Air Vehicles Uninhabited Air Vehicles (UAV) Quick Quiz #1 First 5 Minutes of Next Class ! Briey describe the differences between one of the following groups of airplanes: A. Boeing B-17 vs. Northrop YB-49 vs. North American B-1 B. Piper Cub vs. Beechcraft Bonanza vs. Cirrus SR20 C. Douglas DC-3 vs. Boeing 707 vs. Airbus A320 D. Lockheed P-38 vs. North American F-86 vs. Lockheed F-35 ! Use Wikipedia to learn about all of these planes ! Group (A or B or C or D) will be chosen by coin ip in next class ! Be sure to bring a pencil and paper to class Introduction to Flight Dynamics Airplane Components Airplane Rotational Degrees of Freedom Airplane Translational Degrees of Freedom Axial Velocity Side Velocity Normal Velocity Phases of Flight Flight of a Paper Airplane Flight of a Paper Airplane Example 1.3-1, Flight Dynamics Red: Equilibrium ight path Black: Initial ight path angle = 0 Blue: plus increased initial airspeed Green: loop Equations of motion integrated numerically to estimate the ight path Flight of a Paper Airplane Example 1.3-1, Flight Dynamics Red: Equilibrium ight path Black: Initial ight path angle = 0 Blue: plus increased initial airspeed Green: loop Assignment #2 Compute the trajectory of a balsa glider Gliding Flight Conguration Aerodynamics Math Preliminaries Notation for Scalars and Vectors Scalar: usually lower case: a, b, c, , x, y, z a = 2 !7 16 " # $ $ $ % & ' ' ' ; x = x 1 x 2 x 3 " # $ $ $ % & ' ' ' ; y = a b c d " # $ $ $ $ % & ' ' ' ' Vector: usually bold or with underbar: x or x Ordered set Column of scalars Dimension = n x 1 a = 12; b = 7; c = a + b = 19; x = a + b 2 = 12 + 49 = 61 Matrices and Transpose x = p q r ! " # # # $ % & & & ; A = a b c d e f g h k l m n ! " # # # # # $ % & & & & & A T = a d g l b e h m c f k n ! " # # # $ % & & & x T = x 1 x 2 x 3 ! " # $ Matrix: usually bold capital or capital: F or F Dimension = (m x n) Transpose: interchange rows and columns 3!1 ( ) 4 ! 3 ( ) Multiplication ax T = ax 1 ax 2 ax 3 ! " # $ ax = xa = ax 1 ax 2 ax 3 ! " # # # $ % & & & Operands must be conformable Multiplication of vector by scalar is associative, commutative, and distributive Could we add ? x + a ( ) Only if dim x ( ) = 1!1 ( ) a x + y ( ) = x + y ( )a = ax + ay ( ) dim x ( ) = dim y ( ) Addition x = a b ! " # $ % & ; z = c d ! " # $ % & Conformable vectors and matrices are added term by term x + z = a + c b + d ! " # $ % & Inner Product x T x = x x = x 1 x 2 x 3 ! " # $ x 1 x 2 x 3 ! " % % % # $ & & & Inner (dot) product of vectors produces a scalar result (1! m)(m!1) = (1!1) = (x 1 2 + x 2 2 + x 3 2 ) Length (or magnitude) of vector is square root of dot product = (x 1 2 + x 2 2 + x 3 2 ) 1/2 Vector Transformation y = Ax = 2 4 6 3 !5 7 4 1 8 !9 !6 !3 " # $ $ $ $ % & ' ' ' ' x 1 x 2 x 3 " # $ $ $ % & ' ' ' (n !1) = (n ! m)(m!1) Matrix-vector product transforms one vector into another Matrix-matrix product produces a new matrix = 2x 1 + 4x 2 + 6x 3 ( ) 3x 1 ! 5x 2 + 7x 3 ( ) 4x 1 + x 2 + 8x 3 ( ) !9x 1 ! 6x 2 ! 3x 3 ( ) " # $ $ $ $ $ $ % & ' ' ' ' ' ' = y 1 y 2 y 3 y 4 " # $ $ $ $ $ % & ' ' ' ' ' Derivatives and Integrals of Vectors Derivatives and integrals of vectors are vectors of derivatives and integrals dx dt = dx 1 dt dx 2 dt dx 3 dt ! " # # # # # # $ % & & & & & & x ! dt = x 1 ! dt x 2 ! dt x 3 ! dt " # $ $ $ $ $ % & ' ' ' ' ' Matrix Inverse x y z ! " # # # $ % & & & 2 = cos' 0 (sin' 0 1 0 sin' 0 cos' ! " # # # $ % & & & x y z ! " # # # $ % & & & 1 Transformation Inverse Transformation x y z ! " # # # $ % & & & 1 = cos' 0 sin' 0 1 0 (sin' 0 cos' ! " # # # $ % & & & x y z ! " # # # $ % & & & 2 x 2 = Ax 1 x 1 = A !1 x 2 Matrix Identity and Inverse I 3 = 1 0 0 0 1 0 0 0 1 ! " # # # $ % & & & AA !1 = A !1 A = I y = Iy Identity matrix: no change when it multiplies a conformable vector or matrix A non-singular square matrix multiplied by its inverse forms an identity matrix AA !1 = cos" 0 !sin" 0 1 0 sin" 0 cos" # $ % % % & ' ( ( ( cos" 0 !sin" 0 1 0 sin" 0 cos" # $ % % % & ' ( ( ( !1 = cos" 0 !sin" 0 1 0 sin" 0 cos" # $ % % % & ' ( ( ( cos" 0 sin" 0 1 0 !sin" 0 cos" # $ % % % & ' ( ( ( = 1 0 0 0 1 0 0 0 1 # $ % % % & ' ( ( ( Dynamic Systems Dynamic Process: Current state depends on prior state x = dynamic state u = input w = exogenous disturbance p = parameter t or k = time or event index Observation Process: Measurement may contain error or be incomplete y = output (error-free) z = measurement n = measurement error All of these quantities are vectors Sensors Actuators Mathematical Models of Dynamic Systems are Differential Equations
y(t) = h[x(t),u(t)] z(t ) = y(t ) + n(t ) Continuous-time dynamic process: Vector Ordinary Differential Equation Output Transformation Measurement with Error dim x ( ) = n !1 ( ) dim f ( ) = n !1 ( ) dim u ( ) = m!1 ( ) dim w ( ) = s !1 ( ) dim p ( ) = l !1 ( ) dim y ( ) = r !1 ( ) dim h ( ) = r !1 ( ) dim z ( ) = r !1 ( ) dim n ( ) = r !1 ( ) Next Time: Point-Mass Dynamics and Aerodynamic/Thrust Forces
Reading: Flight Dynamics for Lecture 1: 1-27 for Lecture 2: 29-34, 38-53, 59-65, 103-107 Virtual Textbook, Parts 1 and 2 Supplemental Material Ordinary Differential Equations dx(t ) dt = f x(t ), u(t ), w(t ) [ ] dx(t ) dt = f x(t ), u(t ), w(t ), p(t ), t [ ] dx(t ) dt = F(t )x(t ) + G(t )u(t ) + L(t )w(t ) dx(t ) dt = Fx(t ) + Gu(t ) + Lw(t ) Examples of Airplane Dynamic System Models Nonlinear, Time-Varying Large amplitude motions Signicant change in mass Nonlinear, Time-Invariant Large amplitude motions Negligible change in mass Linear, Time-Varying Small amplitude motions Perturbations from a dynamic ight path Linear, Time-Invariant Small amplitude motions Perturbations from an equilibrium ight path Simplied Longitudinal Modes of Motion Phugoid (Long-Period) Mode Airspeed Flight Path Angle Pitch Rate Angle of Attack Short-Period Mode Airspeed Flight Path Angle Pitch Rate Angle of Attack Note change in time scale Simplied Longitudinal Modes of Motion Simplied Lateral Modes of Motion Dutch-Roll Mode Yaw Rate Sideslip Angle Roll and Spiral Modes Roll Rate Roll Angle Simplied Lateral Modes of Motion Flight Dynamics Book and Computer Code All programs are accessible from the Flight Dynamics web page http://www.princeton.edu/~stengel/FlightDynamics.html ... or directly Errata for the book are listed there 6-degree-of-freedom nonlinear simulation of a business jet aircraft (MATLAB) http://www.princeton.edu/~stengel/FDcodeB.html Linear system analysis (MATLAB) http://www.princeton.edu/~stengel/FDcodeC.html Paper airplane simulation (MATLAB) http://www.princeton.edu/~stengel/PaperPlane.html Performance analysis of a business jet aircraft (Excel) http://www.princeton.edu/~stengel/Example261.xls Helpful Resources Web pages http://blackboard.princeton.edu/ http://www.princeton.edu/~stengel/MAE331.html http://www.princeton.edu/~stengel/FlightDynamics.html Princeton University Engineering Library (paper and on- line) http://lib-terminal.princeton.edu/ejournals/by_title_zd.asp NACA/NASA and AIAA pubs http://ntrs.nasa.gov/search.jsp Primary Learning Objectives ! Introduction to the performance, stability, and control of xed-wing aircraft ranging from micro-uninhabited air vehicles through general aviation, jet transport, and ghter aircraft to re-entry vehicles. ! Understanding of aircraft equations of motion, conguration aerodynamics, and methods for analysis of linear and nonlinear systems. ! Appreciation of the historical context within which past aircraft have been designed and operated, providing a sound footing for the development of future aircraft. More Learning Objectives ! Detailed evaluation of the linear and nonlinear ight characteristics of a specic aircraft type. ! Improved skills for presenting ideas, orally and on paper. ! Improved ability to analyze complex, integrated problems. ! Demonstrated computing skills, through thorough knowledge and application of MATLAB. ! Facility in evaluating aircraft kinematics and dynamics, ight envelopes, trim conditions, maximum range, climbing/diving/turning ight, inertial properties, stability-and-control derivatives, longitudinal and lateral-directional transients, transfer functions, state-space models, and frequency response.