Transfer Function For Aircraft Motion (Flight Control Design Lecture)

CHAPTER
Transfer Function for

Aircraft Motion
Flight Control Design

Aerospace and System Engineering
Gyeongsang National University
Assumptions
Aircraft motion is decoupled into longitudinal (; ) and
lateral (; ) motion
X m( U WQ VR gsin )
Y m( V UR WP gsincos )
Z m( W
VP UQ gcoscos )
0
sin
P 1
Q 0 cos cossin

R 0 sin coscos
I xx P I xz R I xz PQ ( I zz I yy )QR LA LT L

2
2
I yyQ ( I xx I zz )PR I xz ( P R ) M A MT M
I zz R I xz P I xzQR ( I yy I xx )PQ N A NT N
* Longitudinal motion ( , q , u , w)
* Lateral motion ( , , p , r , v)
X m[u Wo q gcoso]
Z m[w U q gsin ]
o
o
M I yy q
q
Y m[v U o r Wo p gcoso ]
L I p I r
xx
xz
N I zz r I xz p
p sin
o
r cos o
State equation ( ) for longitudinal motion

Longitudinal motion after linearization (Wo 0)
u Xuu X w w Wo q gcoso XE E
w
Zq U o
Z E
gsino
Zu
Zw
u
w
q
E
1 Zw
1 Zw
1 Zw
1 Zw
1 Zw

Zu '
Zw '
Zq '
Z '
ZE '
q Mu M w Zu' u M w M w Zw ' w M q M w Zq ' q M w Z ' M E M w ZE ' E

M u
M w
M q
M E
0 gcoso u XE
u Xu X w
w Z Z
w Z
Zq
Z
u
w

E E 0 * disturbance

q Mu M w M q
M q M E
E
w
u

0
0
1
0
Ax Bu Ew (State equation; 4th order)

x
Output equation ( ) for longitudinal motion

Representation of variable of interest for sensor measurement
Example: q is a variable of interest for measurement
u
w
y q 0 0 1 0 0 E 0 * sensor
noise

q D
F
v
u
C

y Cx Du Fv (Output equation)
State & output equations State model

Exercise: and E are variables of interest for measurement
Output equation?

State equation for lateral motion

Lateral motion after linearization (o= 0;Wo = 0; Vp=Uo; v=Uo)
v Yv v U o r Yr r Wo p gcoso YR R
I xz
r Lv v Lp p Lr r LA A LR R Lv v Lp p Lr r L A A L R R
I xx
I
r xz p N v v N p p N r r N A A N R R N v v N p p N r r N A A N R R
I zz
not a function of
p sin
p
r coso
YR
Y
g
Yr
YR
Y
g
Yr
U r U r U U R
o
o
o
o
U
U
U
U
o
o
o
o
p Lv v Lp p Lr r L A A L R R
p L Lp p Lr r L A A L R R
r N v v N p p N r r N A A N R R
r N N p p N r r N A N R
A
R
p
p
r
Review: Coordinate system (CS; )

Body-fixed ( ) CS: Fixed to aircraft; angular
difference by roll (), pitch () and yaw () angles with respect
to Inertial coordinate system; angle of attack () and sideslip
angle () are defined in this coordinate system
*Stability (XsYBZs; ) and Wind (XwYwZs; ) CS
V p (U , V , W )
Vp U 2 V 2 W 2
U V p cos cos
V V p sin
W V p cos sin
tan ( W / U )
sin ( V / V p )

State equation for lateral motion

Lateral equation of motion after linearization
YR
Y
g
Yr
U r U r U U R
o
o
o
o
p L Lp p Lr r L A A L R R
r N N p p N r r N A N R
A
R
Y / U o 0 1 Yr / U o g / U o 0 Y *R

p L

L
L
L
L
0
p
A
p
r
R

A
0 * disturbanc
e
r N
Np
Nr
0 r N A N R R E
w

0 u
0
0 0
01
Ax Bu Ew (State equation; 4th order)

x

Solving state equation for longitudinal motion

0 gcoso u XE
u Xu X w
w Z Z
w Z
Zq
Z
u
w

E E
q Mu M w M q
M q M E
u

0
0
1
0
Ax Bu
x
Set u = 0 for dynamic stability check: x Ax

How to solve this matrix differential equation?

From Engineering Mathematics I
Solution of y = y?
y = xet (x, : constant scalars)
Solution of y = Ay? (y: vector; A: n-by-n square matrix)

y = xet (x: constant vector; : constant scalar)
Plugging the assumed solution into y = Ay,
xet = Axet
Ax = x
Solving y=Ay boils down to
solving Ax = x (linear system)!
*x 0 is called an eigenvector of A, is called an eigenvalue
(characteristic value) of A, and Ax = x is called the eigenvalue
problem.
8.1 The Matrix Eigenvalue Problem. Determining

Eigenvalues and Eigenvectors
How to solve eigenvalue problem Ax = x ?

Ax = x (A - I)x = 0
When does a nontrivial solution exist?
(A - I)-1 must not exist
det(A - I) = 0 or rank(A - I) < n
*Fact 1: det(A - I) = 0 tells us how to obtain
*Fact 2: For each , infinitely many solutions exist. why?


Example: Solve y + 3y + 2y = 0 and obtain y and y.

*Approach 1: by solving characteristic equation
2 + 3 + 2 = 0 = -1, -2
y = c1e-t + c2e-2t
y = -c1e-t - 2c2e-2t
*Approach 2: by solving eigenvalue problem

y = Ay
where
1
0
A
det(A- I) = 2 3
= 2 + 3 + 2 = 0 !
= -1, -2 eigenvalues = roots of characteristic equation
Note that there are 2 eigenvalues

1
0
Example: Solve y = Ay.
A
3
*Approach 2 (continue)
Eigenvalues: 1 = -1, 2 = -2
Two solutions to y = Ay
y1 = x1e1t, y2 = x2e2t
y = c1y1 + c2y2 = c1x1e1t + c2x2e2t
For 1 = -1, Ax = -x x = x1
For 2 = -2, Ax = -2x x = x2
1
1
For 1 = -1, A - I = A + I = 2 2
1
1 x1 0
1
1
1 1 x1 0
2 2 x 1 2 2 x 0 0 0 x 0
x2 = -1 (any nonzero number) and x1 = 1



1
0
A
For 2 = -2, Ax = -2x x = x2

1
2
A - I = A + 2I =
1
1 x1 0
2
2
2 1 x 2 2 1 x 0
2 1 x1 0
0 0 x 0
x2 = -2 (any nonzero number) and x1 = 1

y1 = x1
e 1 t
1 t
= e
1
y2 = x2
e 2 t
1 2t
= e
2



y = c1y1 + c2y2 = c1x1
e 1 t +
c2x2
e 2 t
1 t
1 2t
= c1 e c 2 e
1
2
*Example: Find the eigenvalues and eigenvectors of

5 2
A
.
2 2

Solving state equation for longitudinal motion

0 gcoso u XE
u Xu X w
w Z Z
w Z
Zq
Z
u
w

E E
q Mu M w M q
M q M E
u

0
0
1
0
Ax Bu
x

How to solve this vector differential equation?
By solving Ax=x where det( I-A) 0 4 a13 a22 a3 a4
4 eigenvalues; 2 pairs of complex eigenvalues
2
4 a13 a22 a3 a4 ( 2 2ph ph ph
)( 2 2sp sp sp2 ) 0
x c1x 1 e 1t c 2 x 2 e 2t c 3 x 3 e 3t c 4 x 4 e 4t

phugoid ( ph ) mode
close to imaginary axis
short period ( sp ) mode

far from imaginary axis

Underdamped case (c2 < 4mk): Complex conjugate roots

1 = + id, 2 = id ( ; d n 1 2 )
y(t) = et(A cos d t + B sin d t) = Cet cos (d t )
where C2 = A2 + B2 and tan = B/A.
damped oscillation; equilibrium exists
large fast convergence; large d large frequency

From Control Engineering

Example
0.001
0
9.8
0.033
0.168
0.387
260.0
0
A
0.0055 0.0064 0.551
0
0
0
1
0
1 , 2 0.0033 j0.0672
3 , 4 0.373 j0.889
Phugoid (long period) mode: Slower convergence with low

frequency 1, 2 ; Constant angle of attack; No speed change
in z-direction during the long period
Short period mode: Faster convergence with high frequency

3, 4; No significant speed change in x-direction during the
short period
Two modes may be decoupled
Phugoid mode

Short period mode

Phugoid mode dynamics

0 gcoso u XE
u Xu X w
w Z Z
w Z
Zq
Z
u
w

E E
q Mu M w M q
M q M E
u

0
0
1
0
Ax Bu
x
w (or ) = 0 & Ignore q dynamics

u Xuu g XE E (Assume o 0 )
w 0 Zu u Zq q Z Z E E Zu u Zq q Z E E
q ( Zu / Zq )u ( Z E / Zq )E
( Zu / U o )u ( Z E / U o )E
g u X E
u Xu
Z / U
Z / U E
0
E
o
uo
u
x ph
A ph
x ph
Bph

x ph Aph x ph Bph u (Pheugoid state equation; 2nd
order)
Phugoid mode dynamics (2nd order)

w (or ) = 0 & Ignore q dynamics
g u X E
u Xu
Z / U
Z / U E
0
E
o
uo
u
x ph
A ph
x ph
Bph
x ph Aph x ph Bph u (Pheugoid state equation)

2
ph
ph
det( I - A ph ) 0 2 2 ph
1 , 2
2 Xu
Zu g
Uo
Zu g
g
X
1 1
ph
2
, ph u
ph
Uo
Uo
2
2 L/D
Large lift-to-drag ratio (good performance) decreases damping (takes

more time to get stabilized; dynamically less stable)
Short period mode dynamics

0 gcoso u XE
u Xu X w
w Z Z
w Z
Zq
Z
u
w

E E
q Mu M w M q
M q M E
u

0
0
1
0
Ax Bu
x
Zw
u = 0: w
q M
w
Zq w Z E
M q q M E E
Zw
Uo
w Z E
q M E
M
M
Z
M
M
U
w
w w
q
w
o
E u

Asp
x sp
Bsp
x sp Asp x sp Bsp u (Short period state equation)

Short period mode dynamics (2nd order)

w/Uo : M
1 M
1
M
1 M
Uo
Uo Mw
I yy I yy ( w / U o )
I yy w
Z U o Zw , M U o M w
Zw
Uo
w Z E
w
q M E
q M M Z
M
M
U
w w
q
w
o
w
E
Z / U o
1
Z E

q M M Z / U o M q M q M E
u
x sp
Asp
x sp
Bsp
x sp Asp x sp Bsp u (Short period state equation)

sp
sp2 3 , 4
det( I - A sp ) 0 2 2 sp
sp M q
Z
Z
sp
M , sp M q M / 2
Uo
Uo

Influence of c.g. position on longitudinal response

Example from R.C. Nelson








Example 5.1

State equation for lateral motion (4th order)

Y / U o 0 1 Yr / U o g / U o 0 Y *R

p L

L
L
L
L
0
p
A
p
r
R

A
r N
N p
N r
0 r N A N R R

0 u
1
0
0 0
0
Ax Bu
x

Solve Ax=x where det( I-A) 0 4 a13 a22 a3 a4
2 real and 2 complex eigenvalues
2
4 a13 a22 a3 a4 ( sprial )( roll )( 2 2DR DR DR
)0
x c1x 1 e sprial c 2 x 2 e rollt c 3 x 3 e 3t c 4 x 4 e 4t
Sprial mode
slowly divergent
Rolling mode
fast convergent
Dutch roll ( DR ) mode

low damping

Spiral mode (1st order)

Ignore change in roll angle/rate
Assume p 0
Y / U o 0 1 Yr / U o g / U o

Lp
Lr
0 p
p L

r N
N p
N r
0 r

1
0
0
0
-
-
-
-
-
L Lr r 0
r N N r r
r
Lr N L N r
spiral
r 0
Lr N L N r
L

(Sideslip angle)
0 for stability (r 0 )
L N r Lr N 0 for stability
Rolling mode (1st order)

Ignore change in sideslip angle/rate
Y / U o 0 1 Yr / U o g / U o

Lp
Lr
0 p
p L

r N
N p
N r
0 r

1
0
0
0
p Lp p
roll Lp 0 for stability ( p 0 )
Roll angle is not stabilized with no artificial control (no

horizontal/vertical stabilizer to correct unwanted !)Flight Control Design
Dutch roll mode (2nd order)

Ignore change in roll angle/rate (energy exchange between and
r only)
Y / U o 0 1 Yr / U o g / U o

Lp
Lr
0 p
p L

r N
N p
N r
0 r

1
0
0
0
Y / U o

r N
1 Yr / U o
r
N r

2
det( I - A) 2 2DR DR DR
DR
Y N r N Yr U o N
Uo
, DR
1 Y U o N r
2DR
Uo

Example 5.2

Transfer function
A modelling technique (Input u to output y relation) in
frequency domain
Use Laplace transform to move from time domain (state model)

to frequency domain (transfer function model)
X(s) L[ x(t)] x( t )e st dt , U(s) L[u(t)] u( t )e st dt
t
1
Y(s) L[ y(t)] y( t )e st dt , L[ x (t)] sX(s) x( 0 ), L[ x(t)] X(s)
0
0
s
x Ax Bu , y Cx
X( s ) ( sI A )1 BU( s ) (Assuming zero initial condition)

Y( s ) C( sI A )1 BU( s )
G( s )
Y( s )
C( sI A )1 B
U( s )
How to compute G(s)?

Computation of G(s)
G( s ) C( sI A )1 B
adj( sI A ) adj( sI A ) cofactor of sI A zeros
( sI A )
det( sI A )
| sI A|
| sI A| poles
1
Eigenvalues of A = poles of G(s)!

D det A
a11
D a21
a31
a12
a22
a32
a11
a12
a21
a22
a11a22 a12 a21 .
a13
a22
a23 a11
a32
a33
a23
a12
a21
a33
a32
a13
a12
a31
a33
a22
a13
.
a23
1 3 0
6 4
2 4
2 6
D 2 6 4 1
3
0
0 2
1 2
1 0
1 0 2
= 1(12 0) 3(4 + 4) + 0(0 + 6) = 12.

Formulas for Inverses A-1A = I

Inverse of a Matrix by Determinants
The inverse of a nonsingular n n matrix A = [ajk] is given by
C n1
C11 C 21
C
T
C
C
1
1 21
22
n2
C jk
A 1
,
det A
det A
C
C
C
1n
2n
nn
where Cjk is the cofactor of ajk in det A.

Inverse of a Matrix by Determinants (continued)
(CAUTION! Note well that in A1, the cofactor Cjk occupies

the same place as akj (not ajk) does in A.)
In particular, the inverse of
a11
A
a21
a12
a22
is
1 a22
A
det A a21
1
a12
.
a11

EXAMPLE
3 1
A
,
2 4
Find the inverse of
1 4 1 0.4 0.1
A
10 2 3 0.2 0.3
1
1 1 2
A 3 1 1 .
1 3 4
Solution. We obtain det A = 1(7) 1 13 + 2 8 = 10,

and in (4),
C11
1 1
3
7,
C21
3 1
C12
13,
1 4
3 1
C13
8,
1 3
1 2
3 4
2,
C31
1 2
C22
2,
1 4
1 1
C23
2,
1 3
1 1
3,
1 2
C32
7,
3 1
1 1
C33
2,
3 1
0.7 0.2 0.3

A 1 1.3 0.2 0.7 .
0.8
0.2 0.2
Computation of G(s) for a simple case (Dutch roll mode)

Y / U o 0 1 Yr / U o g / U o 0 Y *R

p L

L
L
L
L
0
p
A
p
r
R

A
r N
N p
N r
0 r N A N R R

0 u
1
0
0 0
0
Y / U o 1 Yr / U o Y *R

r N R
N
N
R u
x
y 1 0 x (measuring )
s Y / U o 1 Yr / U o Y *R
( s )
1
G( s )
C( sI A ) B 1 0
N
N
s
N
R ( s )
R
Y *R s Y *R N r N R Yr N R / U o
2
s ( Y / U o N r )s Y N r / U o N Yr / U o
Example 5.3

Example 5.4


Transfer Function For Aircraft Motion (Flight Control Design Lecture)

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CHAPTER

Transfer Function for

Flight Control Design

State equation ( ) for longitudinal motion

q Mu M w Zu' u M w M w Zw ' w M q M w Zq ' q M w Z ' M E M w ZE ' E

Ax Bu Ew (State equation; 4th order)

Output equation ( ) for longitudinal motion

State & output equations State model

Flight Control Design

State equation for lateral motion

Review: Coordinate system (CS; )

Flight Control Design

State equation for lateral motion

Ax Bu Ew (State equation; 4th order)

Flight Control Design

Solving state equation for longitudinal motion

Set u = 0 for dynamic stability check: x Ax

Flight Control Design

From Engineering Mathematics I

Solution of y = Ay? (y: vector; A: n-by-n square matrix)

8.1 The Matrix Eigenvalue Problem. Determining

How to solve eigenvalue problem Ax = x ?

Flight Control Design

8.1 The Matrix Eigenvalue Problem. Determining

Example: Solve y + 3y + 2y = 0 and obtain y and y.

*Approach 2: by solving eigenvalue problem

8.1 The Matrix Eigenvalue Problem. Determining

x2 = -1 (any nonzero number) and x1 = 1

8.1 The Matrix Eigenvalue Problem. Determining

Example: Solve y = Ay.

For 2 = -2, Ax = -2x x = x2

x2 = -2 (any nonzero number) and x1 = 1

Flight Control Design

8.1 The Matrix Eigenvalue Problem. Determining

Example: Solve y = Ay.

*Example: Find the eigenvalues and eigenvectors of

Flight Control Design

Solving state equation for longitudinal motion

Set u = 0 for dynamic stability check: x Ax

short period ( sp ) mode

Flight Control Design

From Engineering Mathematics I

Underdamped case (c2 < 4mk): Complex conjugate roots

Flight Control Design

From Control Engineering

Flight Control Design

Phugoid (long period) mode: Slower convergence with low

Short period mode: Faster convergence with high frequency

Flight Control Design

Short period mode

Flight Control Design

Phugoid mode dynamics

w (or ) = 0 & Ignore q dynamics

Flight Control Design

Phugoid mode dynamics (2nd order)

x ph Aph x ph Bph u (Pheugoid state equation)

Large lift-to-drag ratio (good performance) decreases damping (takes

Short period mode dynamics

x sp Asp x sp Bsp u (Short period state equation)

Short period mode dynamics (2nd order)

x sp Asp x sp Bsp u (Short period state equation)

Flight Control Design

Influence of c.g. position on longitudinal response