AEM668: Lecture 1 Introduction and Vector Kinematics Lecturer: Dr. Jinwei SHEN January 9, 2014 Outline 1 Roadmap 2 Introduction 3 Equations of Motion (EOM) 4 Vector Kinematics 4.1 Intro 4.2 Notation 4.3 Derivative of a vector 4.4 Direction Cosines (DC) 4.5 Rotation ofa vector 4.6 Derivative of a vector in a rotating frame 4.7 Velocity & Acceleration 5 Quaternions1 Roadmap e Introduction e Vector Kinematics — Frames - Notation - Derivatives — Vector Properties — Rotation — Angular Velocity — Velocity and Acceleration e Matrix Analysis of Kinematics Numerical Integration: Runge-Kutta e Attitude Propagation e Earth-based Frames2 Introduction e Multidisciplinary — Mechanics — Aerodynamics — System Dynamics — Control Design e Required Textbook: Stevens, B., and Lewis, F., Aircraft Control and Simulation, 2nd Edition, J. Wiley & Sons, 2004 (SL) e MATLAB programming e Undergraduate Flight Dynamics and Control (FDC) — Materials familiar — Greater depth or level of abstraction — Emphasis on theory and math — Advance on MATLAB programming — More challenge if no undergraduate FDC e A small aircraft model or toy helpful (allowed in exams)4 Vector Kinematics 4.1 Intro e Frame of Reference — Frame subscript: lower case — Point subscript: upper case e Inertial Frame: E = m ae — Neither accelerating nor rotating — Strictly, none exists; Some seem close - Newtonian mechanics only valid in an inertial frame e Vector - Ordered array of numbers; Any length (dimension) - 3D vector for Newtonian mechanics in Euclidean space — Notation: with an over-arrow e Coordinates: Actual measures used to describe vector (frames)3 Equations of Motion (EOM) ¢ Equation of Motion will be of the form Foi Pape. vectar tt fact Linaszi ; rab i ped X= AX +B px PXP Px PXE Al e Solution by numerical integration Xl4+54> = Xl) + F(R) Ta) be Jot: vot Small Eubr's mothe » ist g2der Runge Kutta rel od4.2 Notation pour loy, time. dprivetiue. ° Locedinate Systing vs Ot ie cthih, lope Of vedgs. ore ide gs oo eR salute. fing 7 , «a 4.3 Derivative of a vector jé CO = tm [ Ualerte) theo dt $t20 St | v Wy4.4 Direction Cosines (DC) ° cel in a coordinate = [Flask t+ Wy op 5 + + [?losy b Ber Te [et] al uke mr ° ‘Vector: a length and direction (3 DC) P.Pe= FUF = Los, coecer] aa : Cos Cob = (Gata + ap + sd [PI BPs [if asa7? = |e Clk + OSE + Coy = | e DC: unit vector in the direction of 7 in Fy \ Y lose) lee C8 74.5 Rotation of a vector = U- wad (F-D-0 + SUH ~ Sin Xi) 4.6 Derivative of a vector in a ie frame $b = (wr sw? | -W TE =U wassb Gc SS oF w +5pCoxw) 7 So 94 3 pe 7 EM a ak Ae = be =W= ShxXw = Wy TB =! i F Wyexat 84.7 Velocity & Acceleration e Position of P: Yen S Yo + Yer e Velocity of P: san cs * Yeo = Yor +°"Yra Tf J Fitsd fe, VeK = Von + Cig + By X WD ° Acceleration of P: “Ven ="Von + (OV; Von + Dyx'Tya FONT p6 ) Opp = Ogg + +s i | Bern +e [| Wyk, XVpg Tyax¥ __ Prompt: aie 2b P in Fi apy = 8 On + Oget GA + i XTp + Wig x (thee) +2 DY xV ‘erie; pedal Coriolis 95 Quaternions e Define a rotation needs 4 independent values — 3: axis and sense of rotation — 1: amount of rotation 4 = fo t i = bot F if t quat scl, e Unique algebra ES — Scalar part related to rotation angle @ — Vector part related to axis of rotation 10Cr Next lecture (SL 1.3) e Matrix Analysis of Kinematics il