Lecture 1

Outline Airplane Equations of Motion - Goal to be Achieved by the Course Airplane Configurations Coordin
AERO 480 and MECH 6091:

Flight Control Systems
Lecture 1: Introduction
Prof. Youmin Zhang
Diagnosis, Flight Control and Simulation Lab (DFCSL)

Networked Autonomous Vehicles Lab (NAVL)
Department of Mechanical, Industrial and Aerospace Engineering
Concordia Institute of Aerospace Design and Innovation (CIADI)
Concordia University
1515 St. Catherine W., EV 12-103
Montreal, Quebec, Canada H3G 2W1
Tel: (514) 848-2424 ext. 5225
Email: [email protected]
Webpage: http://users.encs.concordia.ca/∼ymzhang/
September 6, 2017
Contents to be Covered
Basic definitions and concepts, aircraft configurations
Forces and moments acting on aircraft, coordinate systems
Aircraft equations of motion, longitudinal and lateral-
directional equations of motion (see next slides for an
overall view - one of main goals to achieve after the course)
Linearization of equations of motion, state-space form,
stability derivatives
Trim, static stability (longitudinal and lateral-directional)
Dynamic stability (longitudinal motion)
Dynamic stability (lateral-directional motion, to be covered
as time permitted)
Brief introduction to flight control system design via classic
and modern control theory (to be covered as time
permitted)
Brief introduction to fault-tolerant flight control systems
(optional)
Course Outline and Objectives
Derivation of Equations of Motion (Review to MECH 370

for the modelling part using Newton’s 2nd Law)
To become familiar with airplane configuration
To understand forces and moments applied on the airplane
and to calculate them
To derive 3DOF (Degree-Of-Freedom) and 6DOF equations
of motion of airplanes in different coordinate systems
Static Stability Analysis (Review to MECH 370 for the
systems analysis part)
To linearize derived equations of motion
To understand Stability Derivatives and to calculate them
To analyze static stability
Overall View on 6DOF Airplane Equations of Motion

Translational Equations of Motion:
m(u̇ + qw − rv) = X
m(v̇ + ru − pw) = Y
m(ẇ + pv − qu) = Z
Rotational Equations of Motion
Ixx ṗ − Ixz ṙ + qr(Izz − Iyy ) − Ixz pq = L
Iyy q̇ + rp(Ixx − Izz ) − Ixz (p2 − r2 ) = M
−Ixz ṗ + Izz ṙ + pq(Iyy − Ixx ) − Ixz qr = N
Rotational Kinematic:
p = φ̇ − sin θψ̇
q = cos φθ̇ + sin φ cos θψ̇
r = cos φ cos θψ̇ − sin φθ̇
Summary: Airplane Equations of Motion

Course Outline and Objectives
Dynamic Stability Analysis (Review to MECH 370 for the

systems analysis part)
To represent airplane dynamics in state-space form
To understand airplane dynamic modes
To analyze dynamic stability
To simulate dynamic response of airplanes
Control (Review to MECH 370/371 for the controllers
design part)
To become familiar with basic autopilots
To become familiar with linear techniques for controller
design
To understand flight handling qualities
To practice, design and control quadrotor helicopter UAV
(Qball) through course labs/projects
Airplane Configuration
Conventional Configuration
Figure: Boeing 777

Figure: Airbus A380

Airplane Configurations
Airplane Components
Figure: Airplane Components

It has two wings to produce lift
It has a forward Center of Gravity (CG or CoG)
Tail produces lift downward to cancel moment of lift about
center of gravity
Figure: Conventional Configuration

Unconventional Configuration
Figure: Beechcraft Starship

Unconventional Configuration
Both tail and wings produce lift Upward to cancel moment
about center of gravity
Figure: Unconventional Configuration

Conventional or Unconventional?
Figure: B2 Spirit
Conventional or Unconventional?
Figure: MQ-9 Reaper UAV

Helicopter Configurations
Single rotor helicopters

Dual rotors (counter-rotating) helicopters
Coaxial
Tandem
Quadrotor
...
Helicopter Configurations
Figure: Single- coaxial-, tandem-, and quad-rotor helicopters

Qball-X4: Quadrotor Helicopter Unmanned Aerial

Vehicle (UAV) for the course labs and projects
Figure: Quad-rotor helicopters: Qball-X4 and Dranganflyer X4

(D-X4)
Body Coordinate System
In addition to the Inertial Coordinate System, other kind

of coordinate systems are also often used to make
calculation more easier and to provide more insight into
the dynamics of airplanes.
Two widely used coordinate systems are Body Coordinate
System and Wind Coordinate System.

Body coordinate system is attached to the airplane and the
airplane moves and rotates with it
The x-axis points through the nose of the airplane
The y-axis points to the right of the x-axis perpendicular to
the x-axis
The z-axis points down through the bottom of the airplane
obtained from the RH (right-hand) rule

Figure: Body Coordinate System


Rotational motion along lateral axis (y-axis) is called Pitch
motion. Pitch angle (θ) is an angle between x-axis and
horizon.
Rotational motion along vertical axis (z-axis) is called Yaw
motion. Yaw angle symbol is (ψ).
Rotational motion along longitudinal axis (x-axis) is called
Roll motion. Roll angle symbol is (φ).
Figure: Body Coordinate System

Forces and Moments

Weight
Propulsion (Thrust)
Aerodynamic
Lift
Drag
Forces generated by Control Surfaces
All of these forces generate moments about CG.
−
→ − → −
M =→r ×F
Figure: Forces
Weight
An airplane should be as light as possible to be able to carry
more fuel and ”payloads” such as passenger and sometimes a
Shuttle!
Figure: A Boeing 747 carries Discovery from California to Florida

Propulsion
Figure: Jet engine — Thrust generated by exit gas
Figure: Propeller engine — Thrust generated by propeller

Aerodynamic Forces
Figure: Air flow over an airplane (vapour trail)
Figure: Forces generated by an airfoil

Control Surfaces
Elevator: When elevator goes up, aircraft’s nose goes up
and vice versa (pitch motion)
Rudder: When rudder goes left, aircraft’s nose goes left
and vice versa (yaw motion)
Aileron: When part of aileron goes up (and starboard
goes down consequently), aircraft rotates (roll motion)
Figure: Aircraft Basic Control Surfaces

Control Surfaces
Control Surfaces are controlled by pilot in the cabinet by means
of a mechanism.
Mechanical human powered
Mechanical hydraulic powered
Fly-by-Wire (see additional slides in the course webpage)
Figure: Flight Control System

Forces Generated by Control Surfaces

When Elevator goes up, lift on elevator which is downward for
conventional configurations,
increases,
and create a stronger moment about CG which
finally causes the aircraft’s nose goes up.
The same explanation can be given for aileron and rudder.
Figure: Elevator Position

Question: How to Build Mathematical Model of a

Given Aircraft/UAV?
Question: How to build mathematical model of a given

aircraft/UAV based on above-mentioned different aircraft
configurations and forces, momnents exerted on
aircarft/UAV?
Anwser: Through hard work in this course — the goal of
this course !
Hardware
We will use quadrotor helicopter (Qball-X4) for course labs
and projects
Figure: Qball-X4
Software
We will use MATLAB Aerospace toolbox and SIMULINK

Aerospace blockset for projects and assignments
Figure: F-14 (or F-16) Dynamic Simulation

Enjoy the course!
Wish you like the course, and really learn what you want
to learn through the course!
Your suggestions, comments are very welcomed!

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Outline Airplane Equations of Motion - Goal to be Achieved by the Course Airplane Configurations Coordin

AERO 480 and MECH 6091:

Prof. Youmin Zhang

Diagnosis, Flight Control and Simulation Lab (DFCSL)

Course Outline and Objectives

Derivation of Equations of Motion (Review to MECH 370

Overall View on 6DOF Airplane Equations of Motion

Summary: Airplane Equations of Motion

Course Outline and Objectives

Dynamic Stability Analysis (Review to MECH 370 for the

Figure: Boeing 777

Figure: Airbus A380

Figure: Airplane Components

Figure: Conventional Configuration

Figure: Beechcraft Starship

Figure: Unconventional Configuration

Figure: MQ-9 Reaper UAV

Single rotor helicopters

Figure: Single- coaxial-, tandem-, and quad-rotor helicopters

Qball-X4: Quadrotor Helicopter Unmanned Aerial

Figure: Quad-rotor helicopters: Qball-X4 and Dranganflyer X4

Body Coordinate System

In addition to the Inertial Coordinate System, other kind

Body Coordinate System

Body Coordinate System

Figure: Body Coordinate System

Body Coordinate System

Figure: Body Coordinate System

Forces and Moments

Figure: A Boeing 747 carries Discovery from California to Florida

Figure: Jet engine — Thrust generated by exit gas

Figure: Propeller engine — Thrust generated by propeller

Figure: Air flow over an airplane (vapour trail)

Figure: Forces generated by an airfoil

Figure: Aircraft Basic Control Surfaces

Figure: Flight Control System

Forces Generated by Control Surfaces

Figure: Elevator Position

Question: How to Build Mathematical Model of a

Question: How to build mathematical model of a given

We will use MATLAB Aerospace toolbox and SIMULINK

Figure: F-14 (or F-16) Dynamic Simulation

Enjoy the course!

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