Mathematical Model of Gliders Trajectory

Vu Le
Mechanical Engineer Graduate,
Bachelor of Engineering in Mechanical Engineering and Production Technology,
HAMK University of Applied Sciences, Riihimaki Campus, Finland.
Anil Kutuwo
Senior Engineer (Civil), Sanima Hydro and Engineering (P.) Ltd.,
Bachelors in Civil Engineering, IOE, Pulchowk Campus, Tribhuvan University, Nepal

Source: MathMod MOOC slide

1. Introduction
Many real-life phenomena and problems can be studied by mean of mathematical modelling.
Engineers and scientists in various disciplines have been exploiting this powerful tool to further
interpret the fundamentals of nature, from which practical applications can be derived.

Aiming to introduce and demonstrate the importance of mathematical modelling, MathMod MOOC
is an online course provided by TU Delft which served to help students understand the basics and
techniques involved in modelling and analyze a real-life problem. This course was run from May 16th
2017 to Jul 19th 2017 (9 weeks) in edx platform. In this course, students were given an opportunity to
work on different projects and allowed to work in group of two in going through various steps of
analyzing and refining their models to best replicate their respective projects. The main objectives of
the course are as follow:

a. Formulate and specify a real-life problem,

b. Construct appropriate ordinary differential equations with relevant parameters and
conditions,
c. Solve the ordinary differential equations and implement Eulers method in a (Python)
program,
d. Validate the results of the calculation, and
e. Write a scientific report in LaTeX about the constructed mathematical model.

Two students from Viet Nam and Nepal had form a team for the study of Gliders Trajectory, a real life
problem, as a project work to find the Gliders Trajectory using Mathematical modelling process. The
project works consist of the two part one is the construction of the simple mathematical model and
another one is to make modification on the simple model. This article summarize one part of the
project works carried out during the MOOC which illustrates the one complete Mathematical
Modeling Cycle.
2. Modelling Cycle

Source: MathMod MOOC slide

The mathematical modelling process is better represented as a modelling cycle with four stages i.e.

a. Problem: The question are defined.

b. Mathematical Model: A sets of equations are constructed that describe the phenomenon.
c. Calculation: The equations are solved.
d. Validation: Validation of the solutions are checked.

Most often first modeling cycle are unable to answer the question which directs the necessity of model
modification for improvement. The modification can be made by redefining the parameters, including
new parameters, or/and improving calculation method. So that it gives more accurate results.

3. Glider Trajectory Question

A glider flies in the sky under an angle with the horizon and with (scalar) velocity which has no
engine. During the flight, different forces act on it. The major forces are gravity, lift, and drag. The
glider flight makes its own path (trajectory) which is affected by the above mentioned forces. So,
questions are formed; what is the trajectory of the glider? How is it influenced by the wind?

4. Simple Mathematical Model of Glider

A simple mathematical model can be constructed with the early discussed major forces acting on the
glider. These will yield two differential equations as follow:

= 2 sin()(I)

= 2 cos().(II)

For the instantaneous speed and orientation of the glider, the two differential equation which define
the position of the glider (glider trajectory) are defined as follow:

= cos().(III)


= sin().(IV)

Where, angle of orientation of glider (radian)

m Mass of glider (kg)
t Time (second)
V Velocity of glider (m/s)
g Gravitational acceleration constant (9.81 m/s2)
CD Drag parameter [kg/m]
CL Lift parameter [kg/m]
x horizontal distance of the glider at a time t
y vertical distance of the glider at a time t
The initial data required for solving the model are computed from the link
http://www.standardcirrus.org/Specifications.php. For the study, data correspond to Cirrus 75
(refer early link) was selected.

5. Model Simulation
The four differential equations are solved simultaneously using Euler's method with the application of
Python Programming Language to find the trajectory of the glider. The steps carried out during the
model simulation are discussed in following subsection:

5.1. Time Step

To define the time step for precise calculation/model simulation, the precision required for the angle
and velocity for numerical solution are defined as 0.1 m/s and 0.001 radian respectively. The
computed time step for desired precision was found to be 1/64 second. This value is determined by
carrying following two steps:

a. Differential equation for angle is solved for different time steps considering constant V,
different initial angle, and maximum value for lift parameter. The time step was computed by
comparing the result (angle) at a given time with the result with double time step for the same
initial condition.
b. Differential equation for velocity is solved for different time steps considering constant angle,
different initial velocity, and maximum value for drag parameter. The time step was computed
by comparing the result (velocity) at a given time with the result with double time step for the
same initial condition.

5.2. Trajectory of the Glider

After determining the time step, the four differential equations are solved simultaneously with initial
velocity 30 m/s and initial angle -0.1 radian, drag parameter 0.04 kg/m, and lift parameter 1.48 kg/m.
The solution of velocity and angle shows bounded and oscillating nature (Figure 1 and Figure 2). The
solution oscillates at 50.8 m/s and -0.02702 radian. The model simulation for 600 seconds shows that
the flight oscillates in vertical position with an amplitude of about 100 m, and is dampened with time
as the system attains its equilibrium position. Moreover, the distance traveled by the flight in
horizontal direction is about 30,000 m and drop in height of about 900 m (Figure 3).
Figure 1: Velocity vs time for initial velocity 30 m/s, initial angle -0.1 radian, drag parameter 0.04 kg/m,
and lift parameter1.48 kg/m

Figure 2: Angle vs time for initial velocity 30 m/s, initial angle -0.1 radian, drag parameter 0.04 kg/m,
and lift parameter 1.48 kg/m
Figure 3: Glider Trejectory for time 600 s, initial velocity 30 m/s, initial angle -0.1 radian, drag
parameter 0.04 kg/m, and lift parameter 1.48 kg/m

6. Validation
The validation process was carried out by finding the angle and velocity of the glider at equilibrium
point analytically using excel, and comparing that with the model simulated value. An equilibrium
point is the point where the variation is zero i.e. the first derivative of the function is zero.

In addition, the oscillation time of the system is computed analytically by finding Eigen values of the
Jacobian Matrix in the equilibrium point using MathCad. This oscillation time period was also
compared with the oscillation time period from model.

The agreement between the two processes - analytical solution and numerical solution - was found
which validate the mathematical model.

7. Conclusion
A mathematical model cycle of Glider Trajectory had successfully carried out. The mathematical
solution to the problem of the Glider trajectory had been presented by defining the problem of the
Glider Trajectory, defining the simple mathematical model of the Glider based on the major forces
acting on the Glider, computing numerical solution of the mathematical model defined by the four
differential equation using Euler's method in Python Program, and finally validation of mathematical
model was made by comparing the numerical solution with the analytical solutions.

Despite the validation of the model, the trajectory of the flight shows high amplitude in vertical
position of the flight (fluctuations of height) which is impracticable. Thus, it is recommended that the
model shall be modified. Detail recommendations will be discussed in subsequent section.
8. Recommendation
As discussed early, mostly first modeling cycle are unable to answer the question which leads to model
modification for the improvement. And based on the conclusion section, it is suggested to modify the
model and proceed to the next modelling cycle. The recommendation for the next modelling cycle are
summarized as follow:

a. Lift and Drag parameters are dependent of the angle of glider which are assumed to be
constant for simple model of glider, so it is recommended to modify the model which will
account for the variation of these parameter with the change in angle of glider.
b. It is recommend to revise the step size for obtaining even more precise solutions.
c. It is recommend to incorporate additional parameters in the mathematical model such as
wind effect on the glider.

9. References
a. Mathematical Modelling, Investigation of Gliders Trajectory; June 27, 2017; Anil Kutuwo & Vu Le
b. Mathematical Modelling, Extension of Investigation of Gliders Trajectory; July 11, 2017; Anil Kutuwo & Vu Le
c. DelftX: MathMod1x Mathematical Modelling Basics; course slides
d. edx.org
e. http://www.standardcirrus.org/Specifications.php
f. https://en.wikipedia.org/wiki/Lift_coefficient#/media/File:Lift_curve.svg
g. https://en.wikipedia.org/wiki/Drag_coefficient#/media/File:14ilf1l.svg