Linearized Lateral-Directional

Equations of Motion
Robert Stengel, Aircraft Flight Dynamics MAE 331, 2010

6-Component
Lateral-Directional
Equations of Motion

Douglas A-4

Nonlinear Dynamic Equations

v! = Y / m + g sin ! cos" # ru + pw

y! I = ( cos" sin $ ) u + ( cos ! cos$ + sin ! sin " sin $ ) v + ( # sin ! cos$ + cos ! sin " sin $ ) w

(
(

{ (
{ (

)
)

(
(

)
)

})
})

(
(

p! = I zz L + I xz N # I xz I yy # I xx # I zz p + %& I xz2 + I zz I zz # I yy '( r q I xx I zz # I xz2

Spiral, Dutch roll, and roll modes

Stability derivatives

r! = I xz L + I xx N # I xz I yy # I xx # I zz r + %& I xz2 + I xx I xx # I yy '( p q I xx I zz # I xz2

!! = p + ( q sin ! + r cos ! ) tan "

)
)

$! = ( q sin ! + r cos ! ) sec "

Dutch-rollmode response
of side velocity

Spiral-mode
response of
crossrange

State Vector,
6 components

Spiral-mode response
of yaw angle
Dutch-roll-mode
response of roll
and yaw rates

Roll-mode response
of roll angle

Copyright 2010 by Robert Stengel. All rights reserved. For educational use only.
http://www.princeton.edu/~stengel/MAE331.html
http://www.princeton.edu/~stengel/FlightDynamics.html

4- Component
Lateral-Directional
Equations of Motion

Eurofighter Typhoon

(
r! = ( I L + I

{ (
N # {I ( I

)
) r + $% I

(
(I

) }) (
)&' p} q ) ( I

p! = I zz L + I xz N # I xz I yy # I xx # I zz p + $% I xz2 + I zz I zz # I yy &' r q I xx I zz # I xz2

xz

xx

xz

yy

# I xx # I zz

!! = p + ( q sin ! + r cos ! ) tan "

State Vector, ! x1 $
&
4 components #

# x2
# x
# 3
# x4
"

&
& = x LD4
&
&
%

!
#
=#
#
#
#"

2
xz

+ I xx

xx

# I yy

Side Velocity
v $ !#
&
Body ( Axis Roll Rate
p & #
=
Body ( Axis Yaw Rate
r & #
#
' &&% # Roll Angle about Body x Axis
"

I # I xz2

xx zz

$
&
&
&
&
&
%

x1 $
Side Velocity
! v $ !
&
& #
#
x2 &
Crossrange
# y & #
# p & #
Body ) Axis Roll Rate
x3 &
&=x =#
&=#
LD6
Body ) Axis Yaw Rate
x4 &
# r & #
&
& # Roll Angle about Body x Axis
#
'
x5 &
#
&
#
x6 &
#" ( &% #" Yaw Angle about Inertial x Axis
%

$
&
&
&
&
&
&
&
&
%

Lockheed F-117

Lateral-Directional Equations
of Motion Assuming Steady,
Level Longitudinal Flight
Nonlinear Dynamic Equations, assuming steady, level, longitudinal flight
(constant longitudinal variables)

Nonlinear Dynamic Equations, neglecting crossrange and yaw angle

v! = Y / m + g sin ! cos" # ru + pw

!
#
#
#
#
#
#
#
#
"

)
)

v! = YB / m + g sin ! cos" N # ru N + pwN

= YB / m + g sin ! cos $ N # ru N + pwN
p! =
r! =

(I

(I

zz

(I
xz

(I

LB + I xz N B )
I # I xz2

xx zz

LB + I xx N B )
I # I xz2

xx zz

!! = p + ( r cos ! ) tan " N = p + ( r cos ! ) tan $ N

qN = 0
!N =0
"N = # N

Lateral-Directional Force
and Moments

Linearized Equations
of Motion

1
! N VN2 S; Body " Axis Side Force
2
1
LB = ClB ! N VN2 Sb; Body " Axis Rolling Moment
2
1
N B = CnB ! N VN2 Sb; Body " Axis Yawing Moment
2

YB = CYB

Typical
Lateral-Directional Initial-Condition
Linearized Response

Body-Axis Perturbation
Equations of Motion
!!x LD (t) = FLD !x LD (t) + G LD !u LD (t) + L LD !w LD (t)

#
%
%
%
%
%$

!
!v(t)
!p(t)
!r(t)
!" (t)

Perturbations from wings-level flight

#
%
%
& %
( %
( %
(=%
( %
(' %
%
%
%$
#
%
%
%
%
%$

) f1
)v
) f2
)v
) f3
)v
) f4
)v

) f1
)p
) f2
)p
) f3
)p
) f4
)p

) f1
)r
) f2
)r
) f3
)r
) f4
)r

) f1
)"
) f2
)"
) f3
)"
) f4
)"

&
(
(
(#
(%
(%
(%
(%
( %$
(
(
('

!v(t)
!p(t)
!r(t)
!" (t)

#
%
%
& %
( %
( %
(+%
( %
(' %
%
%
$

Side Velocity Perturbation

!v & #%
(
Body ) Axis Roll Rate Perturbation
!p ( %
=
Body ) Axis Yaw Rate Perturbation
!r ( %
%
!" (( % Roll Angle about Body x Axis Perturbation
' $

&
(
(
(
(
(
'

) f1
)* A
) f2
)* A
) f3
)* A
) f4
)* A

vN = 0;
) f1
)* R
) f2
)* R
) f3
)* R
) f4
)* R

pN = 0; rN = 0; ! N = 0

# ) f1
&
%
(
% ) vwind
(
% )f
(
2
( # !* A(t) & % ) v
%
wind
(%
(+%
) f3
( %$ !* R(t) '(
%
(
% ) vwind
(
%
(
% ) f4
(
% ) vwind
'
$

) f1 &
(
) pwind (
) f2 (
(
) pwind ( # !vwind &
(
%
) f3 ( % !pwind (
'
($
) pwind (
(
) f4 (
) pwind (
'

" !u1 % " !( A % " Aileron Perturbation %

'=$
$
'
'=$
$# !u2 '& # !( R & $# Rudder Perturbation '&
" !w1 % " !( A % " Side Wind Perturbation
'=$
$
'=$
$# !w2 '& # !( R & $# Vortical Wind Perturbation

%
'
'&

Dutch-rollmode response
of side velocity

Spiral-mode
response of
crossrange

Spiral-mode
response of yaw
angle
Dutch-roll-mode
response of roll
and yaw rates

Roll-mode response
of roll angle

Body-Axis Perturbation
Equations of Motion

Dimensional Stabilityand-Control Derivatives

Stability
Matrix

Control
Effect Matrix

#
%
%
%
%
%
%
%
%
%
%
%$

#
%
%
%
%
%
%
%
%
%
%
$

! f1
!v
! f2
!v
! f3
!v
! f4
!v

! f1
!p
! f2
!p
! f3
!p
! f4
!p

! f1
!" A
! f2
!" A
! f3
!" A
! f4
!" A

! f1
!" R
! f2
!" R
! f3
!" R
! f4
!" R

! f1
!r
! f2
!r
! f3
!r
! f4
!r

! f1
!"
! f2
!"
! f3
!"
! f4
!"

&
(
(
( # Y" A
( % L
( = % "A
( % N" A
( %
( %$ 0
(
(
'

&
(
(
( #
( %
( %
(=%
( %
( %
( %$
(
('

Rolling and yawing motions

Yv

(Y

+ wN

Lv

Lp

Nv

Np

Y" R &
(
L" R (
N" R (
(
0 ('

) (Y

) u N ) g cos* N &
(
(
0
(
Nr
0
(
(
tan * N
0
('
r

Lr

Disturbance
Effect Matrix

"
$
$
$
$
$
$
$
$
$
$
$
#

! f1
! vwind
! f2
! vwind
! f3
! vwind
! f4
! vwind

%
"v % "
Side Velocity
'
$ ' $
Body ( Axis Roll Rate
'
$ p' = $
'
$r' $
Body ( Axis Yaw Rate
'
$ ' $
#! & #Roll Angle about Body x Axis&

! f1 %
'
! pwind '
! f2 ' "
' $
! pwind ' $
=
! f3 ' $$
'
! pwind ' $
' #
! f4 '
! pwind '
&

Yv
Lv
Nv
0

#
%
%
%
%
%$

& #
!
!v(t)
( %
!!p(t) ( %
=%
!!r(t) ( %
(
!
!" (t) ( %
' %$

Yv

(Y

+ wN

Lv

Lp

Nv

Np

) (Y

) u N ) g cos* N & #
(%
(%
Lr
0
(%
Nr
0
(%
(%
tan * N
0
(' $
r

!v(t) & # Y+ A
( %
!p(t) ( % L+ A
+
!r(t) ( % N+ A
( %
!" (t) ( % 0
' $

# Yv
Y+ R &
%
(
L+ R ( # !+ A(t) & % Lv
+
(
%
%
N+ R ( %$ !+ R(t) '( % N v
(
% 0
0 ('
$

Yp &
(
L p ( # !vwind
(%
N p ( %$ !pwind
0 ('

Yp %
'
Lp '
'
Np '
0 '&

Stability Axes
Alternative set of body axes
Nominal x axis is offset from the body centerline by
the nominal angle of attack, !N

Stability Axes

&
(
('

Transformation from
Original Body Axes
to Stability Axes
# cos ! N
%
H =%
0
% " sin ! N
$
S
B

" !u %
" !u %
'
'
$
S $
!v
=
H
B $ !v '
'
$
$# !w '& S
$# !w &' B

Stability-Axis LateralDirectional Equations

sin ! N &
(
1
0
(
cos ! N (
'

#
%
%
%
%
%$

Rotate body axes to stability axes

Replace side velocity by sideslip angle
Revise state order

# !v(t) &
!v(t) &
(
(
%
!p(t) (
% !p(t) (
*%
(
!r(t) (
!r(t)
(
(
%
!" (t) ('
%$ !" (t) ('
Body) Axis
Stability) Axis

" !p %
" !p %
'
'
$
$
S
$ !q ' = H B $ !q '
$ !r '
$ !r '
&S
&B
#
#

#
%
%
%
%
%$

# !+ (t)
!v(t) &
%
(
!p(t) (
% !p(t)
*
% !r(t)
!r(t) (
%
(
!" (t) ('
%$ !" (t)
Stability) Axis

!" #

!v
VN

Side velocity (!v) and pitch rate (!q) are unchanged by the transformation

$
Nr
&
!!r(t) '
)
& + Yr
.
* 10
!"! (t) )
& /
) = & , VN
!!p(t) )
&
Lr
!
)
&
!# (t)
( S & tan 1
N
%

"
$
$
$
$
$
#

N"

Np

Y"

Yp

VN

VN

L"

Lp

!x1 % "
' $
!x2 ' $
=
!x3 ' $
' $
!x4 ' $#
&

'
0
) $
g cos 1 N ) &
) &
VN
) &
) &
0
) &
) %
0
(S

$ N
!r(t) ' & 2 A
) & Y2 A
!" (t) )
+& V
!p(t) ) & N
) & L2 A
!# (t) )( &
S
% 0

$ N"
N2 R '
&
)
Y2 R ) $
& Y
!2 A(t) ' & "
) + & VN
VN ) &
) & !2 R(t) )
( & L
L2 R ) %
"
&
)
0 (S
&% 0

!r % " Stability * Axis Yaw Rate Perturbation

' $
!( ' $
Sideslip Angle Perturbation
=
!p ' $ Stability * Axis Roll Rate Perturbation
' $
!) ' $ Stability * Axis Roll Angle Perturbation
& #

$ !r(t)
!" (t) '
)
&
!p(t) )
& !" (t)
+
& !p(t)
!r(t) )
)
&
!# (t) )(
&% !# (t)
Stability* Axis

'
)
)
)
)
)(
Stability* Axis

Why Modify the Equations?

Stability-Axis LateralDirectional Equations

$
&
&
&
&
&
%

$
&
&
&
&
&%

&
(
(
(
(
('
Stability) Axis

Np '
)
Yp ) $
!" wind '
)
)
VN ) &
&% !pwind )(
)
Lp
)
0 )( S

%
'
'
'
'
'
&

Dutch-roll mode is primarily described by stability-axis yaw

rate and sideslip angle

Dutch Roll, top

Dutch Roll, front

Roll and spiral mode are primarily described by stability-axis

roll rate and roll angle
Stable Spiral
Unstable Spiral
Roll

Linearized equations allow the three modes to be studied

Dassault Rafale

Effects of Dutch roll perturbations

on Dutch roll motion

FLD

Stability, Control, and

Disturbance Matrices

Why Modify
the Equations?

! F
DR
= # RS
# FDR
"

DR
RS

FRS

$ ! F
DR
&=#
small
& #"
%

Effects of Dutch roll perturbations

on roll-spiral motion

Effects of roll-spiral perturbations

on Dutch roll motion

small $ ! FDR
&'#
FRS & # ~ 0
% "

DR
FRS

FRS

~0 $
&
FRS &
%

Effects of roll-spiral perturbations on

roll-spiral motion

... but are the off-diagonal blocks really small?

FLD

! F
DR
= # RS
# FDR
"

G LD

"
$
$
=$
$
$
$
#

N! A
Y! A
VN
L! A
0

N! R %
'
Y! R '
VN '
'
L! R '
'
0 &

!
Nr
#
#
$ # ) Yr ( 1,
.& = # +* VN
& #
%
Lr
#
# tan / N
"

N'

Np

Y'

Yp

VN

VN

g cos / N
VN

L'

Lp

" !u1 % " !( A %

'=$
$
'
$# !u2 '& # !( R &

L LD

"
$
$
=$
$
$
$
$#

N!
Y!
VN
L!
0

$
&
&
&
&
&
&
&
%

Np %
'
Yp '
'
VN '
Lp '
'
0 '&

"
$
$
$
$
$
#

!x1 % "
' $
!x2 ' $
=
!x3 ' $
' $
!x4 ' $#
&

!r %
'
!( '
!p '
'
!) '
&

" !w1 % " !( A %

'=$
$
'
$# !w2 '& # !( R &

Weathercock Stability: Yaw Acceleration

Sensitivity to Sideslip Angle, N"
Dimensional stability derivative

Lateral-Directional
Stability Derivatives

N! "

% $V 2 ( Sb
# Cn % $V 2 ( Sb
=
C
n! '
#! '& 2 *) I zz
& 2 *) I zz
> 0 for stability

Vertical tail, fuselage, and wing are

principal contributors to directional
stability
Side force contributions times
respective moment arms
Non-dimensional stability derivative

( )

Cn! " Cn!

Vertical Tail

( )

+ Cn!

Fuselage

( )

+ Cn!

Wing

( )

+ Cn!

Propeller

Contributions to
Directional Stability, N"

Contributions to
Directional Stability, N"

Vertical tail

(C )
n!

Wing

Vertical Tail

Vvt =

" aFin#vt

SFinlvt

Sb = aFin#vtVvt

(C )

%V2 (
!vt = !elas 1 + "# "$ ' Tail
& VN2 *)

SFinlvt
= Vertical Tail Volume Ratio
Sb

n!

VTail = Airspeed at vertical tail;

scrubbing lowers VTail,
propeller slipstream
increases VTail

(C )
n!

Fuselage

"2K VolumeFuselage

" d
%
K = $ 1 ! max Length
'
#
fuselage &

Sb

Wing

= 0.75C LN " + fcn ( #, AR, $ ) C L2N

Propeller fin effect

(C )
n!

Propeller

Function of blade geometry,

number of blades, thrust
coefficient, and advance ratio
J = V/nd
n = rpm
d = propeller diameter

#, Sidewash: Deflection of flow

from freestream direction due
to wing-fuselage interference

Fuselage

" = Sweep angle

AR = Aspect ratio
$ = Taper ratio
% = Dihedral angle

Differential drag
Interference effects

aFin = () Lift slope of isolated fin

referenced to fin area, SFin

1.3

see NACA-TR-819

Yaw Damping Due to Yaw Rate, Nr

Side Acceleration Sensitivity

to Sideslip Angle, Y"

Dimensional stability derivative

Dimensional stability derivative

$ #V 2 '
Y! " CY! &
S
% 2m )(

# "V 2 &
# b &# "VN 2 &
N r ! Cn r % N (Sb = Cn r %
(Sb
(%
$ 2VN '$ 2Izz '
$ 2Izz '
# "V &
< 0 for stability
= Cn r % N ( Sb 2
$ 4Izz '

Fuselage, vertical tail, and wing are principal contributors

( )

CY! " CY!

(C )
(C )
(C )
Y!

Y!

Y!

Fuselage

( )

+ CY!

Vertical Tail

( )

+ CY!

Wing

Vertical Tail

Fuselage

Wing

" aFin#vt

" $2

SBase

SFin

S ; SB =

= $C DParasite, Wing $ k&

2
% d Base

k=

High wing-sweep angle

can lead to Nr > 0

! AR
1 + 1 + AR 2

Martin Marietta X-24B

Approximate Roll
and Spiral Modes

Yaw Damping Due to

Yaw Rate, Nr

( )

Cnr ! Cnr

Vertical Tail

( )

+ Cnr

Wing

r =

rb
2VN

Vertical tail contribution

( )

! ( Cn )Vertical Tail = " Cn#

(C )

nr vt

Vertical Tail

*! ( Cn )Vertical Tail

* rb 2V

( )
rlvt

*! ( Cn )Vertical Tail
* r

# !!p & # L
%
(=% p
%$ !"! (' %$ 1

( )

V = " Cn#

$ lvt ' $ b '

& )& )r
Vertical Tail % b ( % V (

( )

= "2 Cn#

Vertical Tail

Roll rate is damped by Lp

Roll angle is a pure integral of roll rate

$ lvt '
&% )(
b

0 & # !p & # L) A &

(+%
(%
( !) A
0 (' %$ !" (' $% 0 ('

Characteristic polynomial has real roots

! RS (s) = s s " L p

Wing contribution

(C )

nr Wing

k0 and k 1 are functions of

aspect ratio and sweep angle

Roll Damping Due

to Roll Rate, Lp

Roll Damping Due to Roll Rate, Lp

# "V 2 &
# b & # "VN2 &
L p ! Cl p % N ( Sb = Cl p %
Sb
$ 2I xx '
$ 2VN (' %$ 2I xx ('
# "V &
= Cl p % N ( Sb 2
$ 4I xx '

( )

Vertical Tail

( )

+ Cl p

Horizontal Tail

l p

( )

+ Cl p

l p

Wing

! ( "Cl )Wing
! p

Thin triangular wing

Vertical tail

(C )

vt

l p

C L$ & 1 + 3% )
(
+
12 ' 1 + % *

(C )
l p

Wing

=!

" AR
32

CY % S ( % 1 + 3+ (
! ( "Cl )vt
= # $vt ' vt * '
*

!p
12 & S ) & 1 + + )

Tapered horizontal tail

(C )
=#

Wing

Wing with taper

(C )

< 0 for stability

Vertical tail, horizontal tail, and wing are

principal contributors

Cl p ! Cl p

#S = 0
#R = L p

= k0C + k1C DParasite, Wing

2
L

ht

C L % S ( % 1 + 3+ (
! ( "Cl )ht
= # $ht ' ht * '
*

!p
12 & S ) & 1 + + )

pb/2VN describes helix angle

for a steady roll

p =

pb
2VN

Primary Lateral-Directional
Control Derivatives

N! R

# "VN2 &
= Cn! R %
Sb
(
$ 2I '

Comparison of Fourthand Second-Order

Dynamic Models

zz

L! A

# "VN2 &
= Cl! A %
Sb
(
2I
$
'
xx

Second-Order Models of
Lateral-Directional Motion

Bizjet Fourth- and

Second-Order Models
and Eigenvalues
Fourth-Order Model
F=

Approximate Dutch Roll Equation

!!x DR

#
Nr
# !!r & %
= % ! ( ) % + Yr
.
* 10
%$ !" (' % /
%$ , VN

N" &
# N
( # !r & % 1 R
+
(
Y" %
( % Y1 R
( % !" (' %
V
VN ( $
$ N
'

# N"
&
%
(
1
R
+
!
% Y"
(
%
(
%$ VN
'

-0.1079
-1
0.2501
0

&
(
( !" wind
(
('

Dutch Roll Approximation

F=
-0.1079
-1

-1.1616
1

# Lp
0 & # !p & # L* A &
(+%
(%
( !* A + %
0 (' %$ !" (' %$ 0 ('
%$ 0

1.9011
-0.1567

Roll-Spiral Approximation
F=

Approximate Spiral-Roll Equation

# !!p & # L
()% p
!!x RS = %
%$ !"! (' %$ 1

1.9011 0.0566
-0.1567
0
-2.408 -1.1616
0
1

&
( !pwind
('

0
0

G=
0
0.0958
0
0

0 -1.1196
0
0
2.3106
0
0
0
G=
-1.1196
0
G=
2.3106
0

Eigenvalue
0.00883
-1.2
-1.16e-01 + 1.39e+00j
-1.16e-01 - 1.39e+00j
Eigenvalue
-1.32e-01 + 1.38e+00j
-1.32e-01 - 1.38e+00j
Eigenvalue

Damping

8.32E-02
8.32E-02
Damping
9.55E-02
9.55E-02
Damping

Freq. (rad/s)

1.39E+00
1.39E+00
Freq. (rad/s)
1.38E+00
1.38E+00
Freq. (rad/s)

0
-1.16

2nd-order-model eigenvalues are close to those of the 4th-order model

Eigenvalue magnitudes of Dutch roll and roll roots are similar

Approximate Dutch
Roll Mode

Comparison of Second- and Fourth-Order

Initial-Condition Responses of Business Jet
Fourth-Order Response

Second-Order Response

Speed and damping of responses is adequately portrayed by 2nd-order models

Roll-spiral modes have little effect on yaw rate and sideslip angle responses
Dutch roll mode has large effect on roll rate and roll angle responses

Next Time:
Analysis of Time
Response

N" &
# N
( # !r & % 0 R
Y" ( %
( + % Y0 R
!
"
(%
(' % V
VN ( $
$ N
'

#
Nr
# !!r & %
% ! ( = % * Yr
) 1/
%$ !" (' % ,
.
%$ + VN

Characteristic
polynomial,
natural frequency,
and damping ratio

With negligible Yr

&
(
( !0 R
(
'

Y
Y
$
'
*
Y
! DR (s) = s 2 " & N r + # V ) s + , N # 1 " r V + N r # V /
%
N(
N
N.
+

0 nDR = N # 1 "
1 DR

Yr

VN + N r

Y
$
'
= " & Nr + # V )
%
N(

VN

2 N# 1 "

! nDR = N " + N r
# DR

Y#

Y"

Yr

VN + N r

Y#

VN

VN

Y
%
(
= $ ' Nr + " V *
&
N)

2 N" + Nr

Y"

VN