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TRANSFER FUNCT iONS FOR UNDERWATER VEHICLES , ORG. ~~~~~~~~~ NUM ER
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59. K E Y WOR DS (Conti nua or, rev. ,.. aid. if n.c...ar,’ a~d identify by block numb.,)
Equation of Motion Underwater Vehicles Mathematical Models
Transfer Functions Control Simulation Long itudinal Stability
Lateral Stability Dynamic Response Identifiers:
Numerical Analysis Fluid Dynamics Vehicle Hydrodynamics
Simulation Hydrodynamics
20 A B S T R A C T (Continu, on rev.?.,aid. if n.c.aa.ty mid identify by block numb.r)

Derivation of the linear , small—perturbation equations of motion for

underwater vehicles is presented . These equations include the inertial ,
hydrodynamic , and gravity—buoyancy forces and moments. Necessary assumptions
are introduced to linearize the equations and decoup le the longitudinal from
the lateral motions . Solutions to the equations are obtained by Laplace
t ransform techniques. Complete expressions for the transfer functions are -.
~~~~~

DD ~~~~~~
1473 E D I T I O N OF I N O V 65 IS OSSOL ETE
TINrn.ASSTP-J-Fn
S/ N 0 10 2 - 0 1 4 - 6601
SECU RITY CLASSI FICATION OF THIS PAGE (Wh.n Date tnt )

i2~

- - --- . - —
 —

.~~~ Ij ’iiIy CLA UIFICATIOt4 OP TNIS PAGVtIi.I , Oaf.

~~~~~~~

c~~- t . 20.
_
~~~~ ~~~~~ ‘ given in terms of the hydrodynamic coefficients. An example problem is pre—
eented to provide typical values for the characteristic vehicle motions.

I
V

UNCLAS SIPIEn
SECU ~~ITV CLA ISIFICA1 ION OF THIS PAGE(IThmi 5.9. In
.i ,
.~~

-- .- .~~~~~~
 ~JlIu~
-~~ -—,~~~~~ —•. -
- ~~~~~~~~~~~ ~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~ ~~~~~~~~~~~~~~~~

TABLE OF CONTENTS

Page No.

IN TR ODU CTI ON 1

IN E RTI AL FORCES AND MOMENTS 2

N\N , F ) RftvrioN MATRIX 4

LINEAR IZA’I I ON OF THE EQUATIONS OF MOTION 5

EXPANSION OF THE HYDRODYNAMIC FORCES AND MOMENTS 7

EXPANSION OF THE GRAV ITY AND BUOYANCY FORCES AND MOMENTS - .. 8

~‘ i I . [ i F EQUATIONS OF MOTION 13

DEI JvA rIoN OF THE TRAN SFER FUNCTIONS 15

L ong it udinal Transfer Functions 15

• La teral Transfer Functions 19

Example 21

SUM ~1ARY 25

APPENDIX A - EXPRESSION S FOR THE LONGITUDINAL TRANSFER

FUNCTION COEFFICIENTS A-i

APPENDIX B - EXPRESSIONS FOR THE LATERAL TRANSFER FUNCTION

COEFFICIENTS B—l

LIST OF ILLUSTRATIONS

Figure No. Page No.

3 1 Positive Directions of Axes , Angles , Velocities ,

Forces , and Moments 3

2 Center of Gravity and Buoyancy Relationship . 9

3 Time Responses for Longitudinal Motions 26

4 Time Responses for Lateral Motions 27

~~~~~~~.
 -~~ w~-’-’--~
~~~~~~~~~~~~~~~ ~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

LIST OF TABLE S

Tabl ~~ No . Page No.

1 SNAME Nomenclature for Nondimensional

Coefficients 16

2 Nondimensional Longitudinal Equations of Motion - 18

3 Longitudinal Transfer Functions 19

4 Nondimensional Lateral Equations of Motion . 20

5 Lateral Transfer Functions 21

6 Nondimensional Hydrodynamic Coefficients 22

7 Nondimensional Transfer Function Coefficients - • - 23

8 Dimensional Transfer Functions 24

:f~i

_ _ _ _ _______________
~ • .— .— r. -— -’- -.- —-- - ~— - -
~~ ~ ~

INTRODUCTION

The economic or military val ue of any veh icle depends f und amentally
on its ability to traverse a specific path between its point of depar-
ture and its destination. Means for the control of the path vary widely
and depend on a variety of constraints. A train , for example , is con-
strained to move along a track but is not steered . Its control freedom
is merely one of speed. An automobile or surface ship, on the other
hand , while constrained to move on the surface of the land or the sea,
must be steered as well. Underwater vehicles , however , have an
additiona l degree of freedom ; for this reason their problems of the
control are of unusual complexity .

An underwater vehicle or weapon system contains spatial sensors ,

and guidance and control devices (possibly all contained in the human
pilot) whose purpose it is to develop three—dimensional flight path
commands appropriate to steering ~o as to reach a destination or target ,
and then execute those commands by maintaiaing or modifying the forces
on the vehicle so as to maintain or modify the velocity vector. This
allows the intended purpose or mission to be accomplished. Qualities
of a vehicle that tend to make it resist changes in the direction or
magnitude of its velocity vector are referred to as stability , while
the ease and expedition with which the vector may be altered are
referred to as control. ~

The purpose of this report is to dt’veiop the equations of motions

and their associated transfer functions for underwater vehicles in a
form suitable for use by engineers charged with solving these complex
problems of stability and control.

One begins by equating the forces and moments (hydrodynamic ,

gravity , and buoyancy )acting on the vehicle to its reactions , in
accordance with Newton ’s laws. The body is assumed to be rigid with
the axis system located at its e.g. The external forces and moments
acting on the vehicle are represented by a Taylor series expansion

1 McRuer , Duane ; Ashkenas , Irving; and Graham , Dunston , Aircraft

Dynamic8 and Automatic Control, pp. 203—220, Princeton University
Pre ss , 1973.

• .•.- - .• .
~~ •~~~~~~~~~~~~
_______________________
 _ ,—.---• -. ,
—.—.———. — — - .--•..———-- • ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~ ~~ ~ ~ ~~~~~ ‘.‘

about an equilibrium condition . The t h e o r y of small p e r t u r b a t i o n s is

introduced into the derivation to arrive at linear decoup led equations.
These equations can be solved in either the time domain L or in the
frequency domain. The technique of frequency domain solution using
Laplace transforms is chosen here . It is then possible to use conve-
nient transfer function models for the dynamics of the vehicle and all
the analytical techniques for the study of linear feedback systems can
be brought to bear on the problem. Appropriate nondimensional factors
are introduced to conform to the standard nomenclature followed in Navy
publications . ~ The complete six degree of freedom , small perturba-
tion , linearized , decoupled equations of motion are then presented for
a self—propelled vehicle. An example is given using a typical under-
water vehicle to demonstrate the application of the equations.

INERTIAL FORCES AND MOMENTS

The equations of motion employed are a linearization of the

classical Euler equations for a rigid body with respect to a set of
axes fixed at the body e.g. The positive directions of the axes ,
angles , linear velocity components , angular velocity components ,
forces , and moments are shown In Figure 1. Since the derivation of
these equations can be found in any standard text on dynamics , the
details will not be presented here . The reader should refer to McRuer ,
et al.’ for a complete derivation of the inertial forces and moments.
Referred to body—fixed axes one may write

~X = m ( U + QW - RV )

~Y = m ( ~~ + R U - PW) (1)
F

EZ = m(W + PV — QU)

2 Naval Ship Research Development Center , Report P— 433—M—Ol , Users

Guide, NSRDC Digital Progra m for Simulating Submarine Motion ZZMN-
Revision 1.0, by Ronald W. RIchards , June 1971.

~ The Society of Naval Archite cts and Marine Engineers , TMB No. 1— 5 ,
Nomenclature for Treating the Motions of a Submerged Body Through a
Fluid, April 1952.
1 ibId .

(Text Continued on Page 4)

_ _ —-- -- , .- — .—
_ _ _ _ _ _ _
— •.—• — .-.- -_.• ..--——_ -
~
~
— • • - ,• -.“-
~~~ ~~~~~~~~
-
~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
_ ‘.
~
••,•••— -.
~~~~~~~~
—-., • ‘ ----, — ,
~
-
~ -_ .
- •.- ,-—-
~~~~~~
~
-_
1
- ,
—I

‘-4
(~~~4~
cc
oQ~ 4I N~~~
w ~~~~~~~~~~~
0
NI .
._4 J .4~~ J S z
~~~
/ .-. w
/
~< I. I.’
~~.-.
N

~~~~~~~~~~~~~~~~ ~~~ /

/1

/~~~~~~

iL.~-
. ~~~~~~
 ~~~~~~~~~ —— - - .
_
--- . -
-- -- , —• ‘—..-,--
------— . —. .—. --_ - — --- - ._—
-,— •
. -,‘.--“-- -
~~~ ~~ ~~~~ ~~~~~~ ~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~ ~~ ~ ~ ~~ ~~ ~~ ~

PT — RI + QR(I — I ) — PQI
2 2 (1)
= QI + PR( 1 — I ) — R 1 + P 1
y x z xz xz Con .
= RI — P1 + PQ(I — I )+ QRJ
z xz y x xz

The f o l l o w i n g assumptions were made in the d e r i v a t i o n of these

equations

1. The v e h i c l e is assumed to he a r i g i d body .

2. The mass and mass distribution of the vehicle are assumed to

be constant.

3. The XZ plane is assumed to be a plane of symmetry .

These e q u a t i o n s are programmed in R e f e r e n c e 2.

TRANSFORMATION MATRIX

For applica tion of the equations of motion to underwater vehicles ,

the e f f e c t s of e a r t h r o t a t i o n can be neg lected and the e a r t h can be
assumed to be flat. These assumptions allow one to consider the
initial local level coordinate frame (x pointed north , y po in ted eas t ,
and z poin ted down ) to be an inertial coordinate frame . The gravity
0
f o r c e s are known in the i n i t i a l local level coordinate f r a m e and the
hydrodynam ic f o r c e s are measured in a body coordinate f r a m e . To take
advantage of a v a i l a b l e hydrodynamic test data , the e q u a t i o n s of m o t i o n
will be referred to the body coordinate frame . Therefore , the f o r c e s
measured In the I n i t i a l local level c o o r d i n a t e frame , i . e . g r a v i t y ,
rn-j ot be t r a n s f o r m e d t o the body frame . This is accomplished by a
series of rotations through Eulerian angles as shown in any standard
tex t on dynamics. The transformation matrix which perform s this is

Initial Final
System System

cos A cos ~ cos 0 sin ‘

~
—sin 0 X X

coo ~ sin 0 sin ~ coo ~

—sin ~‘ coo ~
p cos
~
+sj n 4 sin 0 sin ~
cos 0 sin
• Y
0
= Y (2)

cos ~ sin 0 cos ~ sin 4 sin 0 cos ~ cos 0 cos ~ Z Z

Q sin ~ —co s ~) sin
~

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ a
_ _ _ _ _ --
 -, ,
-— ---- - - . -. —“- - — -- - ---r - -- — -
~~~~~ ~ ~ ~~~ ~~~~ ~ ~~ ~ ~~~~~~~~~~~~~~~

LINEARIZATION OF THE EQUAT I ONS OF MOTION

E q u a t i o n s (1) are to be l in e a r i z e d b e f o r e t h e y are expanded to

i n c l u d e the h y d r o d y n am i c and g r a v i t y f o r c e s . These e q u a t i o n s contain
p r o d u c t s of the dependent v a r i a b l e s , t h e r e f o r e they are in general
nonlinear. To reduce them to a tractable form , the total motion can
be considered as composed of two parts: an average or mean motion
that is representative of the operating point or equilibriums con-
ditions , and a dynamic motion that accounts for small per turbations
about t ~ 1t mean motion . According ly, each of the total instantaneous
ve loci ty components of the vehicle can be written as the sum of a
vel ocit component during the equilibrium condition and a change in
vel o cit caused by the disturbance :

U U + u
0

V=v +v
0

W = W + w (3)

P=P +p
0

Q = Q + q

R R + r
0

The zero s u b s c r i p t s in E q u a t i o n s (3) i n di c a t e the steady f l i g h t

velocities , and the lower case lett ers represen t the changes in the
v e l o c i t i e s (disturbance velocities).

During the equilibrium condition , the vehicle is assumed to be

fly ing wi th w ings level and w ith all the components of velocity zero
except U . Thus, Equa t ion (3) may be rewritten as

U=U +u
0
V v

W=w
(4)
P p

Q= q

R=r

_ _ . . _ —, ._ . . . .
-~ ~~~~~ ~~ ~~~ ~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~ ~~~ ~~ __ ~~ • ~~~~~~~~~~ ~~~
.
 _—
1
. — —- •—
— -. •‘,—.-.— - — —
~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~ ~~ ~

~~~~~~~~~~~~~

Substituting Equations (4) In Equ ;itions (1) yields

1X m(u + qw — rv)

ZY = m ( v + rU + ru - pw)

EZ m(w+pv - qU - qu)
(5)
p1 —
~ I xz + qr(I z
— I ) — pq l
x y xz

• ) 2 2
EM = qI + pr(I - I - r 1 + p 1
y x z xz xz

EN = rI — p1 + pq(I — I ) + qrI
z xz y x xz

The disturbances from the equilibrium flight condition will now be

assumed to be small enough so that the products and squares of the
changes in velocities are negligible in comparison with the changes
themselves. Also , the disturbance angles are assumed to be small
enough so that the sines of these ang les may be set equal to the angles
and the cosines set equal to 1. Products of these angles are also
approxima tely zero and can be neglected. Thus , terms similar to rv and
u q may be se t equal to zero , and Equa t ions (5) red u ced to

= mu

~Y m(v + r1J )

= m( w — qU )
0
(6)
EK pI —rI
x xz
EM = qI
y
EN rI —p 1
z xz

The rela tio nship be tween the ang u lar vel ocit ies and the ra te of
change o f the ang les (q, 8,~ )are given by

P = 6
—
~ ~~it ~ 0

Q=Ocos + cos 0 sin

~~~ ~~~ ~~
R~~~ P cos 0 cos ~~~~
— 0 sin 4

__________
-- .
~~~~
_-_--———-—-—. _ . _ . ..r_ • _ ..2 .s
~~ ~~~ ~~
.:.. ~~~~~~~~~~~~~~~~~~~~~~~~
 whore P , Q, and R are the a ng u l a r v e l o c i t i e s measured about the vehicle
body axis and ç. , 0 , and
~ are the angular velocities measured about the
equilibrium axis system . F , Q, and R ar e the ang u lar veloci t ies
measured by a rate gyro located in the vehicle. A pply ing Equa t ions (4)
and the small perturbation assumption , these equations reduce to

p =

(7)

r =

• Ic small perturbations assumption not only limits the applica—

b i l i t ; of E quations (6) to small changes in angles and velocities about
an ~~~ iiibrium condition , b ut reduces Equations (6) to linear equations
and yield s a simplification of the m athematical me thods necessary for
the ~inaivsi s of the complicated vehicle motions. In a rigorous mathe—
m~iti :al sense , Equations (6) are applicable only to infinitesimal dis—
r u r L ~,. I n c e s ; however , experience has shown that quick and accurate results
•

can be b t u l n c d by app lying these equations to disturbances of more

fi fl itL- magnitude.

EXPANS I ON OF THE }IYDRODYN AMIC FORCES AND MOMENTS

Th e hydr od y nami c for ces ar e exer ted on the veh icle b y the surround—
J in ~ flu id. They are present whenever there are any reactive forces
b e tween the fluid mass and the vehicle . In steady flight they result
f rom rel ative mot ion be tween the veh icle and the fl u id mass or from
accelerated flows produced by the deflection of a control surface .
Althoug h the specific forces depend on their peculiar origins , the form
of the expressions that describe perturbations in these forces is not
particularl.y dependent upon orig in. For examp le , on veh icles des igned
t o be prop elled at very low speeds b y d ivers , the do m inan t forces and
moments arc produced by the accelerated flows (added mass and moments
of inertia) and the gravity—buoyancy terms (metacentric moment). Where-
as in the case of a high speed submarine , the dominan t contributions
come from the steady hydr odynamic terms . The end results of the treat-
men t here are pertinent to all kinds of underwater vehicles .

These forces and moments are known to be functions of the relative

velocity , acceleration , and po sit ion as well as con trol deflec tions 1
In functional form they are written as

ibid.

7
 F’ = f ( u , v , w , u , v , w , ci, ci , U , p, j , , r, r, ~
., ‘) .

If the hydrod ynamic forces are considered to be continuous functions of

all these variab les , each of the forces (Xh , Y , and z ) and t he m omen ts
h
(K , Mh , and N )can be expressed in terms of ~ he variables by a Taylor
1 h
se~ ies expansion about the equilibrium condition. Because of the small
perturbation assumptions , second orde r and higher terms of the Taylor
series are neglected. Additionally , because the XZ plane is a p lane of
symme t ry, X,~ , Z~ , and M.~ are functions of only u , w , q, their deriva-
tives and 0, whereas K
h’ b ,
and N are func ti ons of onl y v , p, r , their
1
~ , expanding
deriva tives and 4. Thus the forces and moments about an
equilibrium poin t yields

Y = Y + Y ’ v+ Y v + Yp + Yp + Y 4 + Y r + Y r+16
h o v v p p 4 r r 6
I( = K + K ~ v + K v + K - p + K p + K 4 + K r + K r + K ó
n o v v p p r r 6
N = N + N . v + N v + N ~p + N p + N t + N ’ r + N r + N 6
h o v v p p 4 r r 6
(8)
L = X + X u + X u + X w + X w + Xq + K q + X 0 + X 6
n o u u w w q q 0 6
zh = Z + Z . u + Z u + Z . w + Z w + Z . q
o u u w w q
+ Z c ~~+ Z 0 + Z ~~
q 0 6
M. = M + M - u + M u + M - w + M w + M - q + M q + M O + M6
ti o u u w w q q 0 6

Ea ch of the terms in Equations ( 8) has a physical significance. X

Y 0 , Z0 , K~,, M0, and N 0 are the forces and moments acting along and °
abou t the X , Y , and Z axes , respec t ively, while the vehicle is in the
equilibrium fligh t condition . The terms similar to X~ u expre ss the
change in the g iven force and moment caused by the disturbance quantity .
The term X~ is known as ei ther a stability derivative or a hydrodynamic
coeffic ient and is defined as the change in the X—force with respect to
the u—velocity, evaluated at the equilibrium condition. That is ,

xU = ( U)0
~~
~

EXPANSION OF THE GRAVITY AND BUOYANCY FORCES AND MOMENTS

The gravi ty force can be considered to act at the center of grav ity ,
wh ereas the buoyant force acts at the center of buoyancy . The buoyant
• force also creates a moment since it is displaced from the c.g. by the
. These dis tances are shown in Figure 2 for a st able
dis tance X B’ ZB
and uns tab~ e ~configura tion . To find the expressions for the components
of gravi ty and buoyancy to be used in the equations of notion , the

(Text Continued on Page 10)

8
 -
•r ~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

x
Restoring Moment

~~~~~~~~~~~~~~ ncy

X and Z are shown

B B
CB cc
(A) STABLE in a negative sense .
CONFIGURATION xB
ZB
p
‘x
Unstable Moment

~~~~~~~~~~~~~~~ uoya~~y

•
ZB
X and Z are shown
(B) UNSTABLE B B
CONFIGURATION in a positive sense d

FIGURE 2. C ENTER OF GRAVITY AND BUOYANCY RELATIONSHIP9

 general transformation matrix is again used to transform these forces
• from the initial equilibrium flight conditions to the disturbed flight
• condition.

The componen ts of force due to gravity and buoyancy acting on a

vehicle which is in equilibrium flight and which has initial angles 0
and &, with respect to the gravity vector can be found b y dire ct reso 2
~
lution of the force along the equilibrium flight axes X , Y , Z :

X = — (W — B) sin O
oGB o

‘ = (W — B) cos 0 sin
~oGB 0

Z = (W — B) cos 0 cos
GB

The componen ts of force due to buoyancy alone are

K =Bsin O
oB o

Y =—Bcos () stn 4 (10)

oB o o

Z =—B cos 0 cos 4

oB o o -

• The componen ts of gravi ty and buoyancy which act along the disturbed
axes x , y , and z can be found by substituting Equations (9 and 10) into
the transformation matrix given in Equations (2). Thus ,

In itial Final
Sys tem Sys tem

X
GB
Transformation
T =
oCB ~ CB
Matrix
Z
0GB

10
 - •
~~~~~~~
I

or

= X 1. COS tj cos 0 + T sin cos 0 — sin 0

oGB ~‘

X
co (cos ~ sin 0 sin ~ sin cos 4)
—

~ GB ~
(11)
± 1 (cos 4 cos 4 + sin p sin 0 sin 4) + Z cos 0 sin 4
~ GB
= X ( cos i~ sin 0 cos 4 + sin i4i sin 4)
GB

0 cos 4 sin , — sin 4 cos ~P) + 2oGB cos 0 cos 4

oGB~ ~

ApP ly in ~ t h e small perturbation assumption , these equations reduce to

X = X + — OZ
GB GB ~~oGB GB

• = — 4iX + + 4Z (12)
~ GB ~ oGB ~ oGB GB

• Z = OX — + Z
GB CE ~~oGB 0GB

In a sitni lar fashion , the moment equations are found from

xB = ;
~oB +
~Y oB
— OZ
oB

Y =— ,X 4- Y +42
B oil oB oB

Z =O X — 4 Y oB + Z oB
B oB
(13)
M = X — Z X z (X + “ — OZ ) — x (OX — + Z )
B B ~B B B B B ~~oB B B B ~~oB B

N X + ‘ X + OZ ) + x (_ X + + Z )
B ~‘B
= = —
B ~B B ~B~~oB ~~oB B B ~ B ~ oB ~ oB

K = Z ‘ — ‘ Z = )‘(OX — 4’1 + Z ) — z ( X + ‘r
oB
+ $Z )-
B B ~B ~B B B oB oB 0B B ~ B B

S i n c i t is assumed t h a t the wings are level in e q u i l i b r i u m f l i g h t ,

= 0 and thus ‘ r will be zero . However , 0 is arbitrary since a
oB
v~ h 1 cI e can climb or dive in steady flight. ~urthermore , since the
XZ p l a n e is assumed to be a plane of symmetry , = 0. Thus, Equations
( 1 2) and (13) reduce to ~B

11
 . -
-— ----- —•- — - - -••~~~ - — —-- ~ ••- •- -~--~~ — • •~ —• •~~~ — . ~~~~~~~~~ •~~-
.

X X — 8(IJ — B) cos 0
GB GB

= — B) sin 0 +
~
(W - B) cos ~i
~GB
+ !p (W

— 0(W — B) sin 0 +
(14)
M. X z —x Z +OzBcos 0 — Ox B sin O
a oB B B oB B 0 B 0

N = — x B )sin 0 — x B4 cos 0
B ~
B B ~ 0

K z IPBsin 0 + z B$Bcos 0
B B

It is conventional in Navy literature ~ to treat the gravity and

buoyancy contributions as hydrodynamic coefficients. Thus ,

X = X + X 0
GB GB e

T + + Y~~
GB ~oGB
Z Z + Z O
GB GB O
(15)
N =M +M O
B B O
N
B
=N
B
+N 4+ N
~ ~~

K
B
= K
B
+ K~ 4 +

Comparison of Equations (13) and (

14) shows that

= — (W — B) cos 0

= (W — B) cos 0

Y~ = (W — B) sin 0 (16)

Z = — ( W — B) si n 0
8
M0 = Bz cos 0 — Bx sin 0
B o B a

4
~ ibid.

12

~~~~~~~~~~~~~~~~~ ~~ -- - -~~~ -- “.— • • —~~- -~~_ .k’__-f. • • b 4 d~ *4fl V.~ ‘ W ~h •

 — --••- • • — -
—
•——— .—— •— •—. ——- •— —— — -•—•— y ’
— ____ :
~ ~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~
~1pppuI!Ir•

N —xBco s 0
4’ B o
N = — x B sin 0
B
(16)
K zBcos 0 Con .
• 4’ B o
• K zBsln 0
4’ B a -

Therefore , in the following section when the contributions are

grouped together to form the complete equations of motion , the gravi ty
and buoyan cy dis turbance terms X 0 , Y 4’, etc , will be included in the
0 4’
hydrodynam ic disturbance terms .

COMPLETE EQUATIONS OF MOTION

The ind ividual contributions to the equations of motion have been

examined in detail. The complete equations of motion of the vehicle
can now ‘e written . This is accomplished b y summing the con trib ut ions
of the external forces (Equations 8 and 15) and equating this sum to
the righ t—hand side of Equation (6).

The equations for the equilibrium flight condition can be found

by sub s titut ing the equilibrium values of the h ydrodynamic and gravi ty
forces and moments into Equations (6) and setting the disturbance terms
equal to zero :

X +X = 0
o oGB

Y +Y =0
o oGB

zo + z oGB =0

• (17)
K +K =0
o oB

M +M =0
o oB

N + N =0
o oB

The equations of motion for the disturbed vehicle are found by

substituting th’~ disturbed values of the forces and moments Equations
4 (8) and (15), into Equations (6):

13

h,.. _ _ _ _ _
- - ~~~~~~~~
 mu + (X 1)
1
Hy d rod ynam i c

+ X + (X . i)
oGB
_ _ _ _ _
Gravi ty—Buoyancy

The quantities in the boxes sum to zero because of the equilibrium

flight condition of Equations (17). Hence ,

mu = (X i) + (X i)
1 i -

H GB

Similarly for the Y , Z, K , M , and N equa t ions

m (w — U ii) = (Z . i ) + (Z .i)
‘ H 1
GB

I 0 = (M ) + (M i)
u 1
H GB

m(v + U~~ ) = + (Y i )
1
H GB

I ~ — I ‘ = (K i) + (
K i)
x xz ~ 1 1
H GB

I ‘ — I 4’ = (N .i) + (N .i)
2~ xz 1 1
H GB

where the terms (X ii) represent the hydrodynamic coefficients of

equations (8) and (Xj ) represen t the gravity—buoyancy coefficients
~ (,B
of equations (15). Witif the force and moment terms expanded the
equations become

mu = X -u + X u + X’w + X w + X -q + X q + X 0 + X 6
U U W w q q 0

m(w — U 0) = Z-u + Z u + Z•w + 2 w + Z~ q + Z q + Z 0 + Z 6 (18)

0 U U W w q q 0

I 0 M ’u + M u + M~w + M w + M -q + M q + M 0 + M 6
y u u w w q q 0 ó s
S

and

14

. •
- - ~,
_ _
~~~~~~~~~
 _ —
_ v - -— • • • - • -- - -• • -- -
~~~~~~~ ~~~~~~ ~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~ —• ~~ ~~ ~~~~~~~ ~~~ ~~~

m(v + U = Yv + Y V + .;+ Y p + Y 4’ + Y r + Y r + Y ~
0
4’)
v v ~p p 4’ r r 6 R
R
I,~ - I~~~ Kv + K y + K •p + K p + K 4’ + K r + K r + K 6 ( 19)
4’ r 6 R

I F - I 4’ = N~ v + N v + M •p + N p + N ~ + N • r + N r + N , 6
Z xz v v p p 4’ r r R
~R
Equa tions (18 and 19) are the linearized small perturbation equations
of motion .

Examination of these equations shows that Equations (18) are

f unc ti ons of the variables u , 0 , and w , whereas Equa tions (19) are
func tions of the variables v , r , and p, thus as a res u l t of the
assump tions made in the previous analysis , the eq ua tions of mo tion can
be t r e a t e d as two independent sets of three equations . Equations (18)
are referred to as the longitudinal or symmetrical equations because ,
when these motions occur , the pl an e of symme t ry of the vehicle rema ins
in the plane it occupied in the equilibrium flight conditions . Equa-
tions (19) are r e f e r r e d to as the lateral or asymmetrical equations.
Since the long i t u d i n a l motions are independent of the lateral motions ,
they are t r e a t e d separately in the remainder of t h i s r e p o r t .

DERIVATION OF THE TRANSFER FUNCTIONS

In this section , Equations (18) and (19) are converted by the use
of determinants into t r a n s f e r f u n c t i o n s . The Laplace t r a n s f o r m method
of s o l u t i o n is used. The transformed equations are nondimensionalized
to conform to the standard SNAME nondimensionalizing f a c t o r s given in
Reference 3. Table 1 shows a representative list of these f a c t o r s . I t
should be noted t h a t the r e s u l t i ng t r a n s f e r f u n c t i o n s are nondimensional.
Before evaluating the characteristic frequency or the time response of
the vehicle , the transfer function must be first converted to the
dimensional form . The longitudinal t r a n s f e r f u n c t i o n s are derived
first , followed by the lateral transfer functions.

Longitudinal Transfer Functions

Substi tu ting Equations (7) into Equations (18) yields

- X •~i
U
- X u
u — X~~, - X w
w w
- X~ 0
q - X 0
q
- X 0
0
= X 6

niw —mU 0— Z ’ u—Zu—Zw — Z w — Z~ 0 — Z 0 — Z 0 Z 6 (2 0)

0 U U W w q q 0
I 0 - M • u - M u - M w - M w - M - 0 - M 0 - M 0 M 6
y u u w w q q 0

15
- -• • - • - ~~ -
- - —
~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~ -~~~~~ -

TABLE 1

SNANE NOMENCLATURE FOR NONDIMENSIONAL COEFFICIENTS

in ’ = m/ ~~ 2.
~ X’ = X /½p i 2U M ’- = M ./ ~ p i~
3
a
~iu x ’~ = = M I U
a
w ~~~~ o
3
u’ a u/U X~ = X /•~~Z U H’ =
0 q 0 4
w/U K~ =
2
X /½ij Z U~ M~ = M /½P 14 U
0 0 q 0
2 2 3 2
a X’ = X /~~~f U M~ = M /½p t U
6 6 0
4 3 2
a M ’~ = M •/’~~~ M’ 6 = M /‘~~i U
6
3
x ’~ = M’ = M / ~~~f U I’ = I / ’-~ f~

The right—hand side of Equations (20) are the control forces and
represent the means by which either a human operator , an autopilot , or
a disturbance input can control the motion of the vehicle . The control
surface and disturbance inputs are the forcing functions which deter-
mine the resultant motion of the vehicle . Since the vehicle equations
of mo t ion are li near equat ions , the principle of superposition may be
used to obtain a solution . For example , the resp onse to s im u l taneous
app lication of sternplane and bowp lane d e f l e c t ions can be de termined
by calculating the response to each of these deflections separatel y and
then adding together the results to arrive at a complete solution .

In this report , only the long itudinal response to s ternp lane

deflec tions and the lateral response to rudder deflections are given
detailed analysis. It should be emphasized , however , that the mathe-
ma tical techni ques of solution for other control inputs are identical.

Apply ing the Laplace transform to Equa tions (20) yields

(( m X~ )s - X Ju + [— X~ s - X ]w + [— X s 2 — X s — X JO = x 6
u u w w q q
-
0

2
[— Z s
u
— Z Ju F 1(m
u — Z .) s — Z }w + [— Z ’s
w w q
— (
2
q
+ mU )s
0
— 2 10
0
= Z 6
6 s

2
[- M-s - M Ju + [- M ’s - H ]w + [(I - M.)s - H s - M JO = M 6 (21)
u U w w y q q 0

16

• ~~~~
~ :~-
_ ,
p.- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
•—• • --— ----- -- -
. - - -- - -~~• •
,

Eq uations (21) are nondimensionalized by dividing the force equa-

tions by ~2. i 2U 2 and the moment equations b y ‘2~ 9.3U~ . Dividing the first
br acket in the X—force equations by ~~~~~~ yields

[(m — X)s — X Ju X X
U u m u S u u
3 u /i
—

22 3 2
,
- p 9. U 1P 1 ~2I~~~ ~ 0 ~‘~ Di U
0
0
~

= [(m ’ — X’) s ’ — X’ }u ’

L i k e w i s e , for the second and third brackets and the right—hand side we
obtain:

H X s - X ]w
w w — f
X
w_ S -
X
_w~__ 1W
—
,2 2 3 U / 9. ,.2 ~ii
-P U ~~ o •
~~~~~ - LI a
~~ 0 0

= 1— X ’w-s ’ — X ’ Jw ’
w
2 K X
[— X-s - K s — X jti X 2 8
0 S q a
u2 R 2 ½cj 9. 3u
2 2
—
2 2 U /R ~
½p~~ lJ ½pi ~’ 0 ½p1 U

= [— X ’~~s ’~
q
— x ’q s ’ — x ’ 0 J0

Finally for ::he right—hand side of the equation

X 6
6 s
— v ’ó
S

22 6 s~~
-~p~~ U 5
0

T h e r e f o r e , the nondimensional X — f o r c e equation become s

[(m ’ — X ’ ~)s ’ — X ’ J u ’ + [— X ’ ’s ’ — X ’] w ’ + [—X ’4s ’

2 —
Xis ’ — X~ JO =x~~6 5
1

S i m i l a r l y , the remaining long itudinal equations can be p laced in non—

dimensional form to y ield:

[— Z ’ s’ — Z’Ju ’ + [(m ’ — Z ’ ) s’ — Z’Jw ’

2 (Z ~ + m ’)s’ Z’ 10
+ [- Z’ 4s ’ — —
0
=

17

-
• • -- • - •~~~~~~~~~ - -~~~~~~~~~~~~~
F— -
•;_ .- _
~

[— M ’ - s ’ — M ’ ] u ’ + [— M ’ .s ’ —
U U w w
2
+ [(I ’ — M ’.)s’ — M’ s ’ — M ’]O = H’ 6
y q q 0

These equa tions are shown In Table 2 for reference purposes. The equa-
tions predic t the longitudinal small perturbation motions of self—
propelled vehicles.

TABLE 2

NOND IMENSIONAL LONGITUDINAL EQUAT iON S OF MOTION

2
[(m ’ — X ’ -)s ’ X ’]~i ’ — [X ’ •s ’ + X ’ ) w ’ — [X ’ .s ’ ÷ X ’ s ’ + X ’ J O = K’ 6
6 s
—
u u w w q q 0
S

[—Z ’ . ‘
~~~
U
— Z ’ ]u ’ + [( i
U
n’ — 7 ’ .) ‘
w ~~
— zw’ j w ’
2
— [Zt .s P + (2 ’ + m ’) s ’ + Z~~]O =

2
[— M ’ -s ’ - M ’]u ’ — [M ’ •s ’ + M ’lw ’ + [( I ’
w y
— M ’ .) s ’
q
— M ’s ’
q
— M’0 Je = M’ 6
ô s
U U w 5

The t ran sf e r func t ions , for a g iven inpu t , are ob tained by solv ing
the t r a n s f o r m e d simultaneous e q u a t i o n s of motion for the output variable
of interes t with all other inputs considered to be zero . For exampl e ,
using determinan ts , we can directly write the p itch attitude to control
input t r a n s f e r f u n c t i o n s as

(m ’ X ’~~)s ’ Xu’ — X’ s ’ — X’
w 6
— —
u w S

Z ’ u-s ’ — Z’ (m ’ — Z ’ -)s ’ — Z’ 6
w w
—
u S

— M ’ ’s ’ — M’ —
M’w s ’ — M’ N’
u u w 6
0(s) —
________________________________________________
6 (s) 2
(m ’ — X ’~u )s’ X’ —X ’ s ’ X’ — X ’ -s ’ — X ’s ’ — X ’)
w q q
—
0
—
u w
V-s ’ Z’U (m ’ — Z’ ) s ’ — V —Zs ’ — (Z’ + m ’ ) s ’ + — V
0
— —
u w W q q

M ’~~s ’ M’u M ’~~s ’ M’ (I ’ — M ’)s ’2 — M ’s ’ — N’

q q
—
w y
— — —
U w

18

• _ • - • •• • ~~~~~~~~~~ -•• - •- ~~~~~~~~~~ - •-

- -~~~~~ ~‘ ‘ - --.— •,--- --- •• - ,•- - --
— ~~~~~~~~ •~ •• . - ••=~-
~~~~~~~~~~~~~~~~~~~~~~~~

By expanding the determinants , t he t r a n s f e r func tion can be

expressed as the ratio of a numerator polynomial in s over a denornina—
tJ r polynomial. The denominator polynom ial Ms), is common to all the
longitudinal transfer functions and its f a c t o r s determine the frequency
and damp in g , or time constants , of the individual modes of motion . The
n um e ra t or pol ynomials depend on the output quantity of interest. The
general polynomial forms of the primary longitudinal transfer functions
are given in Table 3. The expressions for the various A , B , C , etc.
coefficients of the equations in Table 3 is given in Appendix A in
t erms of h ydrod ynam ic co ef f icien ts .

TABLE 3

LONGITUDINAL TRANSFER FUNCTION S

0
N
6 As + B s +C
0 0 0
0/6
S
= A
= 4 3 2
—

Long As ’ + Bs ’ + Cs ’ + Ds ’ + E

W
N L
6 A s ~~~ + B s ~ + C s t +D
w w w w
w/ 6 = A
5
= 3 2
~ 4
Long As ’ + Bs ’ + Cs ’ + Ds ’ + F.

3 2
6 As ’ + B s’ + C s ’ + D
U U ‘1
u ’/ ó = =
S A 4 3 2
Long As ’ + Bs ’ + Cs ’ + Ds ’ + E

Literal Transfer Functions

The l a t e r a l t r a n s f e r f u n c t i o n s are derived in a manner similar to

the l o n g i t u d i n a l t r a n s f e r f u n c t i o n s . Substituting Equations (7) into
Eq uations (19) yields

isv + m U 4 ’ - Y v Yv - ‘ 4’ -
~~~
- — T ’’ - ‘1 ’ = 6
r~ r~
-
~~ 6 R
~ R

(2 5)

IF — 1 4 ’— Nv — Nv — N-$ — —
4’ — N •V
—
N 4 ’= N 6 6
R
N 4 ’ N

4’

19
 - ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
—. -
~~~~~~ ~~~~
,-• •—•- - -.——-— ---— •- •-- • —,-
--
~ ~~~~~
• •- —- •—----

• The nond iinensional , lateral equations of motion ;ire obtain ed b y

applying the Lap lace transform to Equations (25) and dividing the force
equa t ions by ~ P 9. 3 U 2 and the moment equations by ~&f 2U 2 . Tab le 4 shows
the l a t e r a l e q u a t i o n s in terms of ~~~, 4 ’, and 4’ wher e ~~~~~ v / U
0

The lateral transfer functions are found from the equations of

mo ti on b y expanding the numerator and denominator determinants as pre-
viously noted. The general pol ynomial forms of the p r i m a r y lateral
transfer f u n c t i o n s are given in Table 5. Expressions for the coeffi-
cients A , B , C , etc. are given in Appendix B in terms of hydrodynamic
• coefficients.

TABLE 4

NONDIM ENS I ONAL LATERAL EQUATION S OF MOTION

[(m ’ - Y ’)s ’ - Y ’I~ + L- Y ’ .s ’~ - Y ’s ’ -

+ y ’ .s ’ + (n ’ Y ’)s ’]4’ = Y ó
~
— —
~~
~~ R

2
[- K ’ s ’ - + [(I ’ - K ’ )s ’ - K ’s ’ - K~ J4 ’

2
+ [ ( — I’ — K’ -)s ’ — K’s ’]4’ = K ’ 6
xz r r 6 R

2
H N ’~~s ’ - N ’]~ + [ (- - N ’~~)s ’ - N ’s ’ -

~~~
2
+ [(I’ - N ’ •)s ’ - N ’ s ’]i ~ = N 6
~~ R

20
 TABLE 5

LATERA L TRANSFER FUNCTIONS

3 2
s ’(A s ’ + B s ’ +Cs ’ +D)
~/ 6 R —--~~
— --— —
— _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4 3 2
~~~~ Lat s ’ (As ’ + B s ’ + C s ’ + D s ’ + E )

N 4’
s (A A s
,
+ CA ) + B 4,s
—
R 4 3 2
~Lat s ’(A s ’ + Bs ’ + Cs ’ + Ds ’ + E)

3 2
A s ’ + B~ s ’ + C s ’ + D
= ~R = 4’ 4’
R 4 3 2
~La t s ’(A s ’ + Bs ’ + Cs ’ + Ds ’ + E)

EXAMPLE

To illustrate the use of the equations of motion and transfer

functions , the dynamic characteristics of a typ ical vehicle are evalu-
at ed. The vehicle length is 49.33 feet while the velocity is 10.13
feec per second. The hydrodynamic coefficients of the vehicle are
given in Table 6.

The transfer functions in Tables 3 and 5 are evaluated by substi-

tuting the numerical values of the hyd rody nam ic c oe f f i ci en ts f r o m Table
6 into the expressions in Appendix A and B. The numerical values for
each transfer function coefficient are given in Table 7. These are the
nondimen sjonal transfer function coefficients. To obtain the dimensional
form of the transfer function , substitute s ’ = s 2,/U into the equations
in Tables 3 and 5. For the velocity transfer functions U ’/ 6 ~~~, V ’/ ó ~~~,
and w ’/ ~S , th e lef t s id e o f the eq ua t ions in Tables 3 and 5 m u st also
be multiplied by U to convert to the dimensional form . For illustra-
tive purposes the gondiniensional transfer functions 0/6 and V ’/ 6 will
R
be converted to the dimensional form . The nondimenslonal transfer
function ,

2
1.10 ~ (.329l ~ ‘ ± .4746 s ’ + .1361)
0/6 =
2
— 1.10 ~ ( . O 9O2 ’ + .3960~~’~ + 3288s ’ + .l028s ’ + .0115)
~~
is converted to the dimension il t ) r ~~I , iv rl below by the substitution
s ’ = s 9W/U
0

i~~x t Continued on Page 23)

~
- ~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~ ~-~~~~~~~~~ - --

‘I’ABLE 6

NONDIMENSIONAL HYDRODYNANIC COEFFICIENTS

a — 0.015020 Y’ = — 0.082369
V
U

K ’. = 0.001623 Y’ = 0.026955
U
—
r

X’ — 0 .00008 6 Y’ = 0.000086
(3 4’
• K’ = — 0.002770 Y’ - = — 0 .035545
V
6~
0.050138 Y’ . = — 0.000190
= —
p

7’ = — 0.017455 Y’ .
r
= 0.000400
q
= — 0.031545 Y’ = 0.026262
w
z ’ q. = — 0.000130 K’
v
= 0.002579

0.027695 K’ = — 0.000067
=
p
—

6$
K’ = 0.009550 K’ = — 0.000280
w r

0.001530 K — 0.001530
~~
= —
c~

K’ 0.011310 K ’~ = 0.000 190

=
v
—
q
H’- 0.000146 K ’- = — 0.000092
=
p
—
w
0.001573 K ’~ — 0.000042
=
r
—
q
M~ 0.012797 K~ = 0.000334
• = —

R
m’ = 0 036397 N’ = — 0.0 18264

I’ 0.000047 N’ = — 0.012497
x
=
r
•

1’ = 0.001917 N ’~ = — 0.000182
V
y
I’ 0.001547 N ’- = — 0.001531
z
=
r

= 49.33 feet N~ = — 0.012663

R
U 10.13 f t/sec
0

-- •
_
_ _ _ _ _ __ A
______ ~~~~~ ~~~~~~~~~~~~~

TABLE 7

NONI)IMENSIONAL TRAN SFER FUNCTION COEFFICIENTS

A B C D E
A —0. 00000902 —0.00 003960 —0 . 00003288 —0.00001028 —0.00000115
Long

0.00000066 0.00000262 0.00000128 0.00000136

0.0000036 1 0 00002256 0.00000996 0.00000064

0.00003291 0.00004746 0.00001361

A —0.00000003 —0.000000 18 — 0.00000054 —0.00000183 —0 .00000131

Lat

—0 0000000l —0 .00000007 —0 .00000015 —0 .00000069

0.00000013 0.00000028 0.00000149 0.00000233

R
N~ —0.00000013 —0.00000099 —0.00000187
R

2
- 1.10 ~ [.7808 ~ + .2311 s + .01361
0/6 =

~ 2
l.10~~ [5.0769 ~~ + 4.5761 + .7799 s + .0501 s + .0012]

Likew ise for the v / iS transfer function ,

a
4 3 2
- 1.10 ~ [.0Ol s ’ + .007 s ’ + .015 s ’ + .069 s ’]
V , !6 =
R — 1.10 ~ [.003 5
’ + .018 s ’ ÷ .054 s ’ + .183 s’ + .131 s ’j

is conver ted to dimensional form by the substitutions s ’ = s 2 ./U and

0
v ’ = v/U . Thus, the dimensional t ransfer func t ion is

3 2
.5829 + .7698 s + .3510 s + 3383 s
.8460 s + 1.003 s + .6272 s + .4352 s + .0637 s
The dimensional t r a n s f e r f u n c t i o n s are given in Table 8 in the
polynomial and factored form.

(Text Continued on Page 25)

23

—~~~~~~~~~- - - - - -
---• --~•
 •~~~-~~

TABLE 8

DIMENSIONAL TRANSFER FUNCTIONS

2
l.0.l0~~ (0.7688~~ + 0.6306s + 0.0633s + 0 .00 14)
/6 _2 4 2
- l.o.lo (o.5o77s + O.4576 + 0.0780s + 0.0050s + 0.0001)
~~
0.l514(s + 0.03O2)(s + 0.0826)(s ± 07074)
—
=
2 2
[(s + .0592) + (0.02 19) ] ( s + 0.0 8 11)(s + 0 .7018)

2 3 2
1.o.1o (o.4228s + O.5420s + 0.0491s + 0.0006)
w16 _2 4 3 2
- 1.o.lo (o.5o77s + 0 4576s + O.0780s + 0.0050s + 0.0001)

s + 0.08jJ)
0.8328(s + 0.O~~~ )(
— sj+ 1.1849)
2 2
[(s + .0592) + (0.02 19) j(s + 0.0811)(s + 0.7018)

3 2
1.0.10 (0.7808s + O.2311s + 0.0136)
0/6
_ _ _ _ _ _ _

=
2 4 3 2
- l .0 . 10 (0.5077s + 0.4576s + 0.0780s + 0 .0050s + 0 .0001)

0.1538 (s + 0.0811) (s + 0.2150)

—
= -
2 2
s + .0592) + (0.02 19) J (s ÷ 0.081l)(s + 0.7018)
[(

4 4 3 2
-
- 1.0.10 (0.5829s + 0.7698s + 0.3510s + 0.33835 )
— 1.0.10 (0.8459s + l.0033s + 0.6272s + 0.4352s + 0.0637s)
2 2 )
0 6890(s)[(s + .0516) + (0.6885) 1 (s + 1.2176
=
2 2
s[(s + .0543) + (0.6768) )(s + 0.l826)(s + 0 8949)

4 3 2 )
-
- l.0.10 (0.l460s + 0.06585 + 0.0725s + 0.0233
— 1.0.10 (0.8459s + l.0033s + 0.6272s + 0.4352s + 0.0637s )
2 2
0.1725[ (s + .0522) + (0.6767) ]( s + 0.3462)
=
2 2
s [( s + .0543) + (O.6768) J ( s + 0. 1826)(s + 0.8949)

2
- _ _ _ _
- l.0.10~~(0.l46l~~ + 0.2340s + O.O9lOs)
— 1.0.10 (0.8459s + 1.0033s + 0.6272s + 0.4352s + 0.0637s)

0.l727(s)(s + 0.9378)(s + 0.6638)

=
2 2
s[(s + .0543) + (0. 6768) J (s + O.l826)( s + 0.8949)

24

—------ — - - -• - - - -•-- • . . -- - - --- - . - - - • - - . •- - - - -. - - .-•- -•.——— _ _ _ _ _ _ _ _ _-

-
.

- -
.
 ‘
.
=r— ~~~~ ‘ ‘ ‘ ‘
. ‘- •—,—- ,.-•---. .-••..- --- ,, _,
~~~~~ ~~~~~ ~~

The characteristic equation for longitudinal motions has four

roots. The second order mode is low frequency (0.06 rad/sec) and very
hi ghly damped ( y ~).94). In the forward velocity (u) transfer functions ,
the zeros at 0.0826 and 0.7074 very nearly cancel the poles at 0.0811
an d u . 70 18. Thus the p e r t u r b a t i o n s in forward v e l o c i t y w i l l be repre-
se n t e d b y a second order response with one overshoot and no undershoot ,
w i t h t h e 0 . 9 5 value for settling time equal to 50.7 secs . The response
in v ertical velocity (w) and pilch (0) are similar to the u—response ,
the m a j o r difference being the value of the numerator zero .

The characteristic equation for the lateral motions has five roots.
‘irst , t h ~~r e is a free s in the denominator. Then , there is a second
~
crd€ ~r mode which is of medium frequency (0.68 rad/sec) and very lightly
• dampccl ( ~ =0.08). For the s-ide velocity (v) transfer function , the free
~ is -inc cled in the numerator and the second order mode nearly cancels
r

the ~ . — cu nd r d e r mode in the numerator. Thus , perturbation in side

veloci Lv will have a first order response mode . The characteristic
ooJc will be t h e root at 0.1826 with a 0.95 value for settling time
cq ta i ‘:o 16.4 seconds.

For the yaw transfer function , the second order mode again is
nearl y ~- t o ~c l e d but the free s in the denominator remains . Thus, the
rcsponse will be characterized by a first order integrator . For the
roll transfer functions , the free s is canceled in the numerator and
the second order mode is the characteristic response mode . Thus, the
iuotions in roll will be oscillatory , with a period of 9.25 seconds and
lig h tly damped.

Figures 3 and 4 show the time responses of the vehicle for a one—
J e g r e c s t e p in the control surface . These time responses were computed
o n a d ig i t al co m p ut er using the f u l l transfer fun c tions as shown in
Table 8.

SUMMARY

Th e l inear , small—per turbation equations of motion have been

derived by equating the forces and moments acting on the vehicle to its
reactions. Appropriate assumptions are introduced to separate the
longitudinal motions from the lateral motions . The Laplace transform
me thod of solution is used to solve for the independent variables. Ex
pansion of the t r a n s f e r functions pol y n om ial co e f f i c ien ts is completed
and the r e s u l t s are presented in the appendices for reference. An
examp le problem is provided to demonstrate the use of the t r a n s f e r
• functions and to present typ ical values for the characteristic vehicle
motions .

25

— —•
—— —-~~ •-—---.- --—— --••-••-.————— .•-•———--, -- — —- -— - - — -- —_-
~~~~~~~~~~~~~~~~~~~~~~~~
••
 0 . 0 ’

0 ,

0. 0-
141
t
U
o w
C1~ 0

w
a
S -
~~
~~~ 0 .
Z
-‘ .4
1-
0 0 . C

z
0. 0.
— —4

0 —
~1
C, I I I J I I
0 9C0 — U 0 — Oil’ — cvi’— z8i’ — —‘

(~~ a~ ) ~
( 4c Uao-Lal\ T~~ T~~ aA uo’t aaI Jau au i duia S
~~s/3d) ~ ~ ~
0)
0)
0 • z
I r—
I 1 U)
I
• 0.
0~~ /
1
I
I ‘-.4
I 1-4
I 0~~
/
I U
C) I a)
/ ~~
0 )0 - I —‘
‘ .

I
.
,~~~~

a) I-1
S
-
~~ 1-4 0

0 .

• 0 0.
4
- -4

0
C 1

0 c~ z— 9~~ — 8 9 — i ’6—
~~ Tl—
0 cooS — OT O . cr 0- — ozo - — czo —
( ~~~S/ ~ d) fl k~ TZ o Ta I t p.ze&~o~
(~~at j) 9 a [~~ U~~ 4~~ ’~ j

26

_ _ _—.4-——’—— _
—--- —-— — — — •— -— —-—-—~~~—,—‘.-.--—- .- —,-‘ -“- _ 4~~~~~-,~ ‘~ .
‘~~-.- ~~~~~~ J
~ -.
IIpF.- •_ - - -. _ _ _ _ _ - ‘ - -- -- -
~~~~~~~~~~~~ ~~~ ~~

. 0 .0

— .0 •0
‘.
0

- 0 0

I U U
I a) a)
U)
,
.4, - 0 ’-.
-
-
I -
~~ ~~

/ a
~4-1 —
•0 E~ . 0 1-’
/ 4,)

/ U,
I z
/ ‘0 o 2
C’-l 1—’
I 0
/ x
/ .0
-4
0
-4
/
/
I
1— i I I 0
• . 0— 9~~ — 9~ 6— ~‘~~ I— Z 6T— 0~~7Z—
aT2U V uo~~ oa~ ;aQ ~ appn
~9

_ _

9c0 . LEO
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
9~~I C~ I c6~ £9• Z~ 0 E60~ ~L0 610 0
( U) 4’ ~ I~ UV II°~1 (~ aS/ ~ d) ~‘ A(~ T3Ot3A ap~ g
~~

27

•. ••
~~~~~~~~~~~~~~~~~~~~~~~~ •_ ~~~~~~~• • •~~~~~~~•~ ~~~~~~~~~~~~ •~~~~~~~~~~~
A
 •,- -- • -~~~ --~~~ - • -
,- _ w
Pu.— — ‘- , —
- -• C
- __ c n
—
lf
~ ~~~~~~~~~~~~~~~

•
APPENDIX A

EXPRESSIONS FOR THE LONGITUDINAL TRANSFER FUNCTION COEFFICIENTS

Th e longi t ud inal ch a rac teris t ic eq ua tion is

4 3 2
A = As ’ + Bs ’ + Cs ’ + Ds ’ + E
Long
where

A = (in ’ — X’ -)(m ’
u
— Z’ . ) ( I ’
w y
— M ’ ’)
q
— X ’~wM ’UZ’q — Z ’~~M ’ X ’
u w q

— (m ’ — 7 ’ -)M ’ X ’•
~u q
— Z ’ -X ’ - ( I ’ — M’) — M’ .(m’ — X’ )Z ’
w U W Y q w u q -

B = — (m ’ — X ’~~) ( i n ’ — Z’ ’)M ’ — Z’(m ’ — X ’ )(I ’ — M’)

u w q w u y q

— X ’(m’ — Z ’~~) ( I ’ — M’ .) — X ’-M’ - (Z’ + m ’) — M ’X ’ -Z ’ - — M’ ’X’ Z’

U w y q w u q U w q uw q

—
u
- Z ’ M ’Z ’ . — Z ’M’ X ’ ~ — (m ’ — Z ’ ’)M’.X’ — M’ (m’ — Z ’ w.)X ’ q.
~‘ q uw q u w q w uq u
~~~~~~~~~~~~~~

+ M’ •Z’ X ’ -
u w q
+ Z ’ -X’ M’
u W~~q
— z ’X ’ ’(I’
u w y
— M ’.
q
)— Z’•X ’( l ’
u w y
— M’ q’)

— M ’ (m ’ — X ’ ) ( Z ’ ÷ m ’) M ’(m ’ — X’ -)Z’- + M ’-X’Z’•

w u q w u q w u q
—

C = — (tn ’ — X ’ U.)( m ’ — Z ’ -)M’ + Z ’(m ’

w 0 w
— X ’u )M q’ + X’(m
u
’ —
w q

+ Z ’X ’(I ’
wu y
— M’ q•) — X ’~~M ’ -Z ’
w uO
— Mu’X’ w•( Z q’ + m ’) — M ’ -X ’ ( Z ’ +
uw q
in ’ )

— Z ’~ M ’ X ’ — Z ’ M’ X ’ — 7 ’M ’ •X ’ — Z ’M’ X ’ — (m’ — Z ’ •)M ’•X’

u wO u wq ~u w q uw q w uO

— M ’(m ’ — Z ’’)X’ + M’ Z’X’ + Z’M ’X’~ + Z ’ X’ M’ + Z u’X’ w’Mq’ + Z ’u Xw’M’

u w q uwq wu q u wO q

— X ’ Z ’( I ’ — M ’) — M’ .(m’ — X’ )Z ~ — M~ (m ’ — X’ )(Z ’ + m ’)

+ M ’w.X u’(Z ’q + in ’ ) + X’M’Z’

uw q
— Mu’Xw’Z’ q• -

A-i

I
~ -• ~•~•-•••~•• •~ _. _•••~••— _•_ - . •• •_ _
—~ ~••_•••••~ —r —— - - .

D Z ’M ’(m’ X ’ ) + X ’(m’ Z’w )M’ — Zw’X’M ’ — M’X ’ Z’ — M’ -X ’Z ’

0 uq u wO uw O
—
wO
—
u u
—

Z’ uM’X ’ Z’M ’ ’ Z’M ’X ’ M’(m ’ Z ’ .)X’

M’X
u w’ (Z q’
+ u w’XO
—
in ’ ) — —
uwq u w 0
— —
wO
—

+ M ’-Z ’X ’ + Z ’M ’X ’ + Z’X ’ -M ’ + Z’’X’M ’ + X ’Z ’M’ — M ’(m ’ — x ’’)Z’

uwO w uq u wO uw O wuq w u 0

+ M ’’X’Z ’ + M’X ’( Z ’ + in ’ )
w u O w u q

Z ’M’X ’ ’ ’M ’ + X ’M’ Z ’
E Zw’Xu’ M0’ M’X ’Z ’ ~w‘Mu’XO ’ + Xw Zu O
4-
uw O
— — —
uwO uw O
— -

The pitch response transfer function is

0
N 2
B s’ + C
6 A S’ +
= _ s_~ •= 0 0 0
0’ô
A A
Long Long

where

A = N’6 (in’ — X ’.)(m ’ - Z ’w-) + Z’

6
X ’-M’ + X’ Z’-M’w’
w u 6 u
—
M’6 X ’-Z’
w
-
O u e e e
e

+ X6’ (in ’ Z’ .)M’U + V6 M ’w-(m ’ — x ’ s)

u
—
w
e e

Bo M’ (in’ X ’ )Z ’ N’ X’(m ’ — Z ’~ )+ Z 6’ X’ w-M’ + Z ’ X ’M ’

u 6 w
= — — —
6e u w 6e u e e

+ X 6’ Z’~u Mw’ + X iS’ Z’M’ —

M’6 X ’w Zu’ — M ’ X ’Z ’ ÷ X ’ (in ’ —
Z’ v )M
u
’
u w 6w u 6
e e e e e

— IC 6’ Zw’M’ u. — V M’ X ’ + Z’ M’(m
6 vu 6 w
’ —
u
e e e

M6’ X u’Zw’ + Z 6’ X’M’ X’ Z’M ’ M’6 Xw’ Zu’ Z’ M ’X ’

v u + 6e u w
C0 — X ’ Z ’M’ —
6 wu 6 vu
= —

e e e e e

The vertical velocity transfer function is

A— 2

. . -~~~~~~~~~
—- - -- - - . - - -- ~~~~~~~~~~~~~~~- - -
-
. --
- -— ~~~~~~~~~ --
••
.

-
.
 --~~~~ : —-
~~~~~ ~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~
-
~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~ ‘ “
~‘

,
MW
3 2
As ’ + B s ’ + C s ’ +D
S _ ~~~_~W W W W
—
6 A A
s Long Long

where

A
w
= Z ’ (m ’
6
— X ’~u)(I’
y
—
N’ qs) + X i’ MS ’ uZ ’q + N’iS Z’ u•X’ • — Z’i SM’ ’X’
u ~q
~~~ ~~~

+ x ’ Z ’~~(I ’ — M ’ s) ÷ N ’ (m ’ — X ’’)Z’
u y q 6 u q
e e

B
w
= z’ (m ’ — X ’~~)M ’
U
— Z’ X ’(I ’
6 U Y
— M’ ’) + X ’ M’Z’ + X ’ M’ (Z’ +
q iS u q 6 u q
in ’ )
“ q
~e e e e

+ M’ Z ’ -X ’ + M ’ Z ’ X ’ - - 7.’ M ’ -X ’ —
Z’6 M’X ’• X’ Z’ ’M’
uq
—
uq 6 t q 6 uq q 6
e ~ e e~~ e

+ x’ Z’(l ’ — M ’ ’) + M ’ (m ’ — X ’ )(Z ’ + in ’ ) — M ’ X’Z’

q 6
e
U q iS e ti q

C = — 7.’ (m ’ — X ’ -)M’ + Z ’ X ’ M ’ + IC’ M ’~ Z’ + X’ M ’(Z ’ + in’) + N’6 Z’ u X’

O
w iS u O i S u q 6 uO i S u q
e e e e e

+ N~ Z’Z ’ — Z’ M’ -X’ —
Z’iS M’uXq’ — X ’ Z ’’M’ — X’ Z’M’ + M’ (in ’ — X’ ’)Z’
~e u q 6 uO 6 uO iS uq 6 u O
e e e e e

— M ’ x ’(z’ + in ’).
q
e

D = V X ’M’ + X ’ M’ Z ’ + N ’ Z’X ’
6 uO
— z’ M’X’
i S u O
— X ’ Z’M’
i S u O
— M’ X’Z’
6 u O
w 6 uO 6 u O
-

e C e e e e

The f o r w a r d speed t r a n s f e r f u n c t i o n is

U
N 3 2
6 As ’ + B s ’ + C s’+ D
U s —
—
u u u U
6 A A
S Long Long

whe re

A = m’
X; ( — Z’~ )(I~, — M ’~ ) + M~~X’~ Z’ + Z~~M’~ X’ + M~~ (m’ —

4 4

+ z’ X ’-(I ’ — N’ -) — X ’ M’~ Z’-

w ~‘ q 6 w q
e

A- 3

‘I
 -—— : ‘ ‘ “ —-— — ~~ - —’’
~~~z~:-’~~~’ ”-——-—-—-
. — •— -
~~~~ ~~~~~~~

B — — X’ (in ’ — / ‘ )M ’ — X 6’ (i ’ — M ’OZ
q w
’ + M’i XS ’ (wZ q’ + m ’) + M iS’ X’ Z ’ •
w q W q
e~~~’ e

-4- Z’ M ’’X ’ + Z ’ M ’X ’- + M ’ (in ’ Z’ ) X ’ — M ’ Z’ X ’ — Z’ X’ ’M ’

Si w q 6 w q i S w q 6 wq
—

~e w q e e e e

+ 2 ’ X ’( I ’ — M ’ s) — X ’ M ’(Z ’ + m ’) — X ’ M ’Z’~
iS W q
q 6 W q -

e e

+ X ’ Z ’M ’ + M 6’ X ’w Z0’ + M 6’ Xw ’(Z 7.’ M ’ -X ’

X ’ (m ’ Z’w )M’ q’
C + in ’ ) +
O iS wq 6 we
— —
u 60 e e e e

+ 2 ’ M ’X ’ + M ’ (in’ — Z ’) X ’ — N’ 7.’ X ’ — 2 ’ X’ M ’ — Z ’ X ’M ’
6 wq 6 w 0 6 w q A wO 6 wq
e e e e e

- X ’ M’ ’Z ’ — X ’ M ’(Z ’ + m ’)
6 wO 6 w q
-

e e

D X ’ i ’M ’ + M ’ X ’Ve + Z6’ Mw’ XO’ — M ’ Z ’X ’ — Z ’ X’ M ’ — X ’ M ’Z’

u iSwO 6 w 6 wO 6 w 0 6 wO
e e e e e

A- 4

-- ~~~~~~~~~~~~~~~~ . ~~~~~~— ~~- . -

.

.
 -- --— - - - - --•- —-- -.
~~~~~~~~ ~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~

APPENDIX B
1-:xl’REsslorjs FOR THE LATERAL TR.MJSFER FUNCTION COEFFICIENTS

The lateral characteristic equation is

4 3 2
A = s ’ (As ’ + Bs ’ + Cs ’ + Ds ’ + E)
Lat
where

A (in ’ — Y’ . (l ’ — N ’ )(I’
) — K’’) + N ’ .(— I’
V z r x p V XZ
—
r p

+ Y ’ .F: ’ -(— I ’ — N’ .) — N ’ -Y ’ .(I’ K’ K’ V- (I’

r v r
— —
xz p x p
-) —
V z r p

— (in ’ — Y ’ ’)(— I’ — N ’ )(
— I’ — K’ -)
V XZ p xz r
-

B (in ’ Y’ .)(I’ N ’.)K’ N ’(m’

=
Y’ )(I’ K’ p’)
— — —
z r
— —
p r
—
V V x

— Y’(I ’ — N ’ -)(lI ’ — K ’ .)+ N’ ’ (— I’ K ’-)Y’ N ’ •K ’Y ’-

r x xz
— —
V Z p v r p yr p

+ N’(— I ’ — K ’ -)Y ’ . — Y’ -K ’ - N ’ + Y’.K’(— I’ N’ p•)

v xz r p r vp rv xZ
—

— (in ’ — Y ’) K ’ .(.- I~ — N ’.)+ N ’ y ’ •K ’ + N’.(m’ Y’)(I’ K’ .)

r v xz p
— —
V r p v r x p

— N’ Y ’ -(I ’ — K ’ S) — K ’ - (I’ — N’ .)Y’ + K’ -N ’Y’ ’ (I’ N’ •)K’Y’-

p v z r p yr p
— —
z r V P

+ (in ’ — Y’ -)(— I’ — K’ - ) N ’ + (in ’ Y ’ V-)K’(— I’ N’ -)

r p
— —
V xZ r xz p

+ Y’(— I’ — K ’ - )( — I ’ — N’ -)
v xz r xz p

B— 1

-
-- _ _ _ _ _ _ _ _ _ _ _
--- --~~~ -~~~~~~~~
 — ——--- --—- -— -- —
-.
— ~~~~~~~~ •---- — ~~~~~~ =‘~- —---C — — — - —~~~~~ -—- -—- _ _ __ __ _ —

C N’ (m ’ Y’ )K ’ (m ’ Y’ ) ( l ’ — N ’ )K ’ + Y ’( I ’ —
r p
— —
z r
—
r v p v 4’ V Z

+ N’Y ’ (L’ K ’) + N ’(— I’ — K ’ ) Y’ — N’ K ’Y ’ + N’(— I ’ —

v rp r p
—
rv x p v xz r 4’ v xz

N ’K ’Y’ — Y’ K’ N ’ — Y ’ K ’N ’ + (in ’ — Y ’) K’ N’
yr rvp r vp
-
p r v4’

(in ’ Y ’)K ’(— I’ — N’ ) + N ’Y ’ K’ — N’(m ’ — Y ’)K ’ + N ’Y ’~ K’

r p v rp
—
r v xz p
—
V r4 ’ v

+ N ’(m ’ — Y’)(l ’ — K ’) — K’ (I’ — N ’ ) Y ’ + K ’ N ’Y ’ - (1 ’ -

V r x p V Z r 4’ v r p z r vp

+ K ’N ’Y’ - + (in ’ — Y’ -)(— I’ — K ’~~)N ’ — (in ’ — Y ’ - ) K ’N ’

yr p v xz r 4’ V rp

— Y ’(— 1’ — K ’-)N ’ — K ’ Y ’(— 1’ — N ’ -)

rv xz p
-
V XZ r p

D = N ’( m ’ — Y’ - ) K ’ + Y ’ ( I ’ — N’)K ’ — N ’Y ’ K ’ — N ’-K ’Y ’
r v 4’ v z r 4’ r v p v r 4 ’

+ N’ (— I ’ — K ’~~)Y ’ — N ’K ’Y ’ — Y ’ K ’N ’ + (m ’ - Y ’ ) K ’~~N ’
v xz r 4’ v r p r v 4 ’ r

+ (in ’ — Y ’)K ’N ’ — N ’(m ’ — Y ’)K ’ + N ’Y’ K ’ — N ’(m ’ - Y ’ ) K ’ + K ’ N ’Y ’

r vp v r 4’ V r4 ’ v r p v r 4 ’

— (I’ — N ’ - ) K ’Y’ + K ’N’ Y ’ — (m ’ — Y ’ )K ’N ’ — Y’(— I’ — K’)N ’

z r v4 ’ v r p v r4 ’ v xz r 4’

+ K ’Y ’N ’
rvp -

= N Y ’K ’ — N ’ K ’Y’ + (m ’ — Y ’)K ’N’ — N ’(m’ — Y ’ ) K ’ + K ’N ’Y’ + K ’Y’ N ’

r v4’ v r
—
rv 4 ’ vr 4 ’ 4’ vr 4 ’ rv 4 ’

The sideslip transfer function is

N 3 2
6 s’(A~ s ’ + B ~ s ’ + C s’ + D)~~
=
6
=
6 A A
R L

B— 2

- _

—--—--.—---- - - —---~~~ — . . -- -— — - —- -—— - - . - .

~- ! - ~f ”-’~
 where

K ’ y ’- (— I’
-
A = Y ’ (1 ’ — N’ -)(I’ — K ’•) — N ’ (— I’ — K ’ -)Y ’ - — — N’ )
r 6 z r x p 6 xz r p 6 r xz p
r r

+ N ’ Y’ -(I ’ — K ’-) + K ’ (I’ — N’ .)Y’- — Y’ (— I’ — K’-)(— I’ —. N’)

A r x 6 a r p 6 xz r xz p
r r

Y~ (I ’ Y’
p + N’iS K’r ~p
B = — N’ ’)K’ YiS’ N’(I’ K’ -) N’ (— I’ —
K’ r-)Y’
6
— — — —
z r p r x X
r r ~‘ r ~ r

+ K~’ Y ’ -N ’ + K ’ (in’ — Y’)(— I’ — N’ ’) N’ Y ’ K ’

rp
—
rp 6 r XZ 6
r r

— (in ’ Y ’ ) N ’ (I’ — K ’ ) + K’ (I’ — N ’)Y ’ — K’ N ’Y’~

6 z r p
—
r 6 x p 6 r p
r r r

+ Y’ (— I’ — K’ •)N’ + Y’ K ’(— I’ — N ’ -) -
xz r p 6 r xZ p
r

C. = Y ’ (I ’ — N ’ - ) K ’ + Y ’ N ’K ’ — N’ (— I’ — K’ -) Y ’ -f- N ’ K’ Y’
6 ’’ 6 xz
—
-• 6 z r 4’ r 4 ’
r r r
~
+ K~~ Y’ •N~ — K~~ (m ’ — Y’)N ’ — N (; Y ;K ( + (in ’ —
YpN K;
r ~ ~ ~ ~r

K’•)N ’
+ K ’ (I’ N ’ K ’ Y ’ + Y ’ (— I’
6 K’N’
— N ’-)Y’ — — Y’
xz r 4’
—
z r 4’ r6 p 6
r 11’
r

D~ Y ; N;K l;) + N I K;Yl;) — K (in t — Y ’) N ~ +

1
(in ’ — Y ’)N ~~ K~) —
N;K~~Y~)
r ~r ~r

Y
c; K;N ;
-
-

• The r o l l transfer function is

N 2
6 s ’(A s ’ + B s ’ ~~~~~
L = 4’ 4’
6 A A
R L t L

whe r e

B— 3
 - -

A K ’ (m ’ — Y’ • ) ( 1’ — N ’- ) — Y’ N’ . ( 1’ — K ’ -) + N ’ K’ -Y
5 v z r 6 V ~ r
XZ
~r v r
~.
r r

— K ’ N ’ Y ’- + Y ’ K ’~~(I ’ - N ’- ) -- N’ (i n ’ — Y ’ -) ( - I’ — K ’ -)
6 V r 6 v z r v xz r -

r r r

B = — K ’ (m ’ — Y’ ) N ’ — K ’ Y ’( I’ — N ’) + Y’ N’ y Kr’ — Y ’ N’(— I’ K’ .)
r 6
—

4’ 6 v r iS v Z A v xz r
r r r r

— N~’ K ’.(m ’ — Y ’) + N’ K ’Y ’ + K ’ N ’ (m ’ — Y ’) - K ’ N ’Y ’ — Y ’ K ’ -N ’
v r 6 v r 6 v r ~r v r 6 yr
r r r r

+ Y ’ K ’ (I ’ — N ’ - ) + N ’ (in ’ — Y ’ )K ’ + N’ Y ’ ( — I’ — K ’ -)
6 v z r 6 v r 6 v xz r -

r r r

C = K ’ Y y’N’
r + Y ’ N y’ Kr ’ — N ’ K ’ (m ’ — Y ’ ) + K ,’ N ’ (rn ’ — Y ’) — Y ’ K ’N ’
~ 6 6 6 v r ~r r 6 yr
r r r r

— N ’~ Y y’K’
r -
~r

The yaw t r a n s f e r f u n c t i o n is

,2
A~ s ’~ + B s ~~~~~~~~~~~~~
=

R Lat Lat

where

A = N ’ (m ’ — Y’ )(I ’ — K’ ) + K’ N ’-Y ’’ — Y ’ K ’- (— I’ — N ’’)

4’ 6 v x p 6 v ~ 6 V XZ p
r r r

+ Y N I (I - K ’ -) - - K (m - Y ’ ) ( - 1’ - N’ )
~ r ~r ~
-
~~~~~~~~~ ~r ~

B = — N ’ (m ’ — Y’ )K ’ — N ’ Y ’( I ’ — K’) + K’ N ’ Y ’ + K ’ N ’Y ’
4’ 0 V 6 X 5 vp 6 p
r ~ r~~’ r r~~

+ Y’ K’ N ’ - Y ’ K ’(— I’ N ’ -) — Y’ N’K’ + Y iS’ N ’ ( I ’ — K ’ -)

6 6 V x p
—
V~~~ xz p ~~~
r~~ r r
j
N’ K ’ -Y ’ N ’ K ’Y ’ - + K’ in ’ — Y’ -)N ’ + K 6’ Y ’ (— I ’ — N’)
6
- — (
vp 6 ~‘ XZ p
r r ~ r ‘~

B—4
 C = - N’ (in ’ — Y’ - ) K ’ + N’6 Y ’ K’ + K’ N ’ -Y’ + K’ N’ y ’ + Y’ K’ N’
V
4’ r”l ) 6 V4) 6 6 v4 ’
r r ”~ ’ r
+ Y ’ K’N’ Y’ N’ -K’ Y’ N ’K’) N’ K ’ •Y’ N’6 K’Y ’ + K’
-
iS hh j) 6
—
iS V
—
6
—
(in ’ — Y’ - ) N ’
r r ~~4’ r ~ r v4’ r ’’ 6 V
4’
~~~ r
-
K’6 Y ’ N’ -

r ~

D N ’ Y’K’ + K’ N’Y ’ + Y’ K’N ’ Y’ N’K’ K’6 Y ’N’

=
4’ 6 ’ 4’ iS V 4 ’ iS ’ V 4 ’
-
6
- N’ K’ Y’
6
—
r~~ r r r~~~ 4’ r ”4 ’ r ” 4’
-

8—5
 • INITIAL DISTRIBUTION LIST
• NCSL REPORT 287—76

236 Commander , David T a y l o r Naval Ship R&D Center

(Code 15) (Copy 1)
(Code 1548 ) (Copy 2 )
•

(Code 1564) (Copy 3)

(Code 1576) (Copy 4)
210 Commander , Naval Surface Weapons Center , Whi t e Oak
(Technical L i b r a r y ) (Copy 5)
223 D i r e c t o r , Nava l Research L a b o r a t o r y
(Ocean Engineering Dept — Dr. Skop) (Copy 6)
(Ocean Engineering Dept — Mr. H Johnson) (Copy 7)
(Technical Library) (Copy 8)
186 Officer in Charge , Civil Engineering Laboratory
(Code L3 1) (Copy 9)
198 Commander , Naval Facili ti es Eng ineering Command
(Code O3 2C ) (Copy 10)
266 Commanding O f f i c e r , Naval Und erwa t er Sys tem s Ce nt er , Newport
(Technical Library) (Copy 11)
(Dr . 3. F. Brad y ) (Copy 12)
(Dr. D. Good rich) (Copy 13)
265 Commander , Naval Undersea Center , San D iego
— (Technical L i b r a r y) (Copy 14)
(M r. I . LeMa ire) (Copy 15)
Library of C ongress , Science & Technology Divis ion ,
Washington , DC 20540 (Copy 16)
Dept. of Mechanical and Aer ospace Engineering, Nor th
Carolina S t a t e University, R alei gh , NC 27606
(D r . F. 0. Sinetana) (Copy 17)
Depar tment of Ocean Engineering , Massachusetts Institute
of Technology, Cambridge , Mass. 02139
(Depa r tm en t L ib r a r y) (Copy 18)
(Prof N. Abkov itz) (Copy 19)
Davidson Laboratory , Stevens Institute of Technology ,
711 Hudson S t ree t , Hoboken , NJ 07030
( L ib r a r y) (Copy 20)
Iowa Institute of Hydraulic Research , Un iversity of Iowa ,
Iowa C i t y , Iowa 50010
( P r o f . L. Landweber) (Copy 21)
( P r o f . V. C. P a t e l ) (Copy 22)
11 Pa. S t a t e U n i v e r s i t y , App lied Research Laboratory
(Dr . B R. Parkin ) (Copy 23)
(Dr. W. R. H a l l ) (Copy 24)
(Library) (Copy 25)
340 Director , Wood s Hole Oceanographic Institute
(Ocean Engr . Department) (Copy 26)
• ——- Department of Mechanical Eng ineering , Catholic University,
Washington , DC 20000
(Prof. M. J. Casarella) (Copy 27)
• ——— Oceanics . Inc., Technical industrial Park , Plainview ,
Long I slan d , NY 11803 (Copy 28)

,
~ ~1~’
 _ _ _ _ _ _ _ _ _ _ - ~~~~~~~~~~
_ _ _ _

INITIAL DISTRIBUTION LIST (Cont ’d.)

• NCSL REPORT 287—76

Society of Naval A r c h i t e c t s & M a r i n e E n gin e e r s

74 Tr inity Place , New York , NY 10006
(Technical L i b r a r y ) (Copy 29)
Hydronauti c s , Inc., Laurel , ?fl ~ 20810
(Dr . B. L. S i l v e r s t e i n ) (Copy 3 0 )
(M. P. T uli n ) (Copy 31)
268 Commander , Naval Weapons Center , China Lake
(Technical Library) (Copy 32)
54 Chief of Naval Research
(Code 438 — Mr. R. D. Cooper) (Copy 33)
(Code 211 — Mr. D. Siegel) (Copy 34)
Chief of Naval Research Branch Office , 492 Summer S t . ,
Boston , Mass. 02210
(Dr. Al Wood) (Copy 35)
1 Chief of Naval Material
(NAV MAT 03 P) (Copy 36)
(MAT 031) (Copy 37)
(MAT 03 2 ) (Copy 38)
3 Chief of Naval Operations
(Op 098 RDT&E) (Copy 39)
(Op 02 — Submarine Warfare) (Copy 40)
(Op 095 — DIR ASW Programs) (Copy 41)
(Op 21 — Strategic Sub Div & ULMS Prog Coord) (Copy 42)
(Op 22 — Attach Sub Div & SSN Prog Coord) (Copy 43)

78 Director of Defense Research & Engineering (Research

and Technology), Washing ton (Copy 44)
28 Assistant Secretary of the Navy (R&D) (Copy 45)
427 Naval Sea System s Command
(NSEA 03) (Copy 46)
• (NSEA 032 Benen)
— (Copy 47)
(NSEA 032 Sejd)
— (Copy 48)
(NSEA 034 — Roinano) (Copy 49)
(NSEA 035 — Pierce , Pasiuk , Freund) (Copy 50, 51 , 52)
(NS EA 036) (Copy 53)
(PMS 395) (Copy 54)
208 Commander , Na v al Ocea no g r aphic O f f i c e
( L i b r a r y , Code 1640) (Copy 55)
5 Commander , Naval Sh ip Engineering Cen ter (Copy 56)
154 Superintendent , Naval Academy , Annapolis
(Technical Library) (Copy 57)
222 Superintendent , Naval Postgraduate School , Mon t erey
(Library , Code 2124) (Copy 58)
——- Dept. of Electrical Engineering, Un iversi ty o f South
Florida , Tampa , FL 33620
(Dr. V . K. Jam ) (Copy 59—68)
Stevens I n s t i t u t e of Technology , Davidson Laboratory,
Hoboke n , NJ 07030
(D r . A. Strumpt ) (Copy 69)
(Dr. C. Sedlak) (Copy 7’))
6 D I r e c t o r , Advanced Research P r o j e c t s O f f i c e
(Mr. R. Chapman) (Copy 71)
75 Director , Defense Documentation Center (Copy 72—83 )

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