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Aircraft Performance,
Performance, Stability
Stability and
and Control
Control
with
with Experiments
Experiments in
in Flight
Flight
Dr. A. K. Ghosh
Mr. Yogendra Singh
Dr. Deepu Philip
Department of Aerospace Engineering
IIT Kanpur
Module-1
Lecture-1
Introduction
Introduction
Introduction to Flight Mechanics
The important/relevant topics in flight mechanics are to be familiarized with, before conducting any experiment. Atmospheric flight mechanics encompasses two major disciplines;
namely performance and flight stability and control, as shown in Figure 1.
1. Aircraft performance: mainly deals with the estimation of performance characteristics such as range, endurance, rate of climb, etc.
(a) Range: The total distance that an aircraft can travel on a given full tank of
fuel.
(b) Endurance: The total time that an aircraft can stay in air for a given tank
of fuel.
(c) Rate of climb: The rate of change of altitude of an aircraft in flight.
2. Flight Stability and control: deals with the handling qualities of an aircraft
under the influence of external forces and/or internal forces.
Warm up
What does the term experiment imply in engineering and physical sciences?
In engineering and other physical sciences, experiments are used to test
theories and hypotheses about how physical process work under given conditions
For successfully conducting any experiment, the following preparations are required:
1. Conduct initial research/studies on the topic of interest/research problem.
2. Postulate the problem/exercise/hypotheses to be tested based on initial research
findings.
3. Design appropriate experiment(s) to test the hypotheses/theories associated with
the problem/exercise.
4. Record the data and other details.
5. Replicate the experiment to validate and verifying the findings.
6. Document the process, data and findings as a technical report.
Target audience
The target audience of this course is upper level undergraduate and graduate
students, along with practicing engineers.
This course is structured in the following manner:
1. Introduction to various aerodynamic and flight dynamic models routinely used to
estimate performance characteristics of an airplane in flight.
2. Introduction to the concept of aircraft stability and control.
3. Development of analytical expressions for estimation of neutral point (stick fixed
and free) and maneuvering point (stick fixed and free).
Flight testing
PURPOSE : Broadly speaking, flight testing of aircraft may be conducted for various
purpose in mind.
Acceptance Flight Testing : To determine the actual characteristics of aircraft and
to compare it with the computed / predicted or with that claimed by the manufacturer.
Such test may be conducted by :
1. Airline operator
2. Airforce
3. Prospective owner
4. Prototype testing by manufacturer himself
Overhauled airplanes may also need to conduct tests for obtaining flight airworthiness
certificates.
The procedures for flight testing are basically same irrespective of the purpose of it being
acceptance testing or research and development testing. The major differneces lie only in
the manner in which the final corrected data is presented.
Flight Test Program : The major steps involved in any flight test programs are :
1. Develop plan & establish objectives
2. Theoretical estimates of results to be obtained from flight testing
3. Determine mass characteristics
3
4. Instrumentation
5. Design and perform flight maneuver
6. Measure and record data
7. Pre-process data
8. Analyse data
9. Evaluate results
10. Present results
A statement of the objectives is the first element of any test plan. The statement must
be :
1. Concrete
2. Include acceptable forms of the results
The aim is to design the test program to provide the desired results for the least cost in
time and money within the limitations of available manpower and equipment
Example:
Let us consider an example where stick fixed and stick free longitudinal static stability
characteritics are to be studied. To define the objective more preciously, we say :
To obtain the location of stick fixed and stick free neutral points from some fixed reference
point
Let us see what needs to be known :
While preparing for the experiment we need to
1. Know the longitudinal static stability theory of aircraft.
2. Know how to relate this theory to flight test technique for obtaining the desired
results.
3. Obtain some pre-flight data; c.g. location
4. Identify the instrumentation requirement, say elevator position, stick force, airdata
(speed, altitude, outside air temperature).
4
Weight and longitudinal center of gravity position are easy to measure and are routinely
monitored. This is a routine maintenance activity approved by civil aviation airworthy
organisation. Determination of moment of inertia and vertical and lateral C.G. positions
require special tests.
1. Flight test plan should provide for accurate monitoring of the mass characteristics
throughout the flight test program.
2. In preparing for each test flight, it should be checked that all the required mass data
is available, because it is not possible to reliably re-construct mass data once the
aircraft is handed over.
3. If we have inaccurate mass data, we will have inaccurate test results, so mass data
deserves some care and attention to detail as the flight instrumentation system.
Common source for mass data collection
The commen source of mass data is ground based measurement.
1. The weight and the longitudinal and lateral components of the C.G. can be accurately measured by scales under each wheel.
2. Swing test measure the moment of inertia, using springs with known spring constants.
3. A second good source of mass data is manufacturers records of component build up.
These records can give total aircraft moment-of-inertia data that one more accurate
than those from swing test.
Reference material
Much of the lecture material is taken from these books:
1. Anderson, John D. Introduction To Flight.: McGraw-Hill, 1978.
2. Phillips, Warren F. Mechanics Of Flight.: J. Wiley, 2004.
3. Nelson, Robert C. Flight Stability And Automatic Control.: McGraw-Hill, 1989.
4. Napolitano, Marcello R. Aircraft Dynamics.: J. Wiley, 2012.
5. Perkins, C.D. & Hage, R.E., Aircraft performance, stability and control.: J. Wiley
1949.
6
Module-1
Lecture-2
Standard Atmosphere
Standard Atmosphere
It is important to understand the definition of various altitudes that are
usually used to analyze/compare the performance of flying vehicles in standard atmosphere.
The gravitational force experienced by any aircraft varies with altitude. Also, an aircraft experiences variation in aerodynamic forces with altitude. This is simply because of
the fact that the atmospheric properties viz; Pressure, density and Temperature (P, , T )
also changes with altitude. Aerodynamic forces are strong function of these atmospheric
properties (P, , T ). It is a necessity to specify the altitude that will help in postulating
gravitational and aerodynamic forces explicitly.
Before proceeding further, let us define certain terms that are essential to understand and
characterize standard atmosphere.
1. Absolute altitude (ha ) The altitude as measured from the center of the earth
2. Geometric altitude (hg ) The altitude as measured from the mean sea level
3. Geo-potential altitude (h) The geometric altitude corrected for the gravity
variation. We will discuss this later in detail.
From Figure 1, it can be concluded that the absolute altitude is the sum of geometric altitude and mean radius of the earth. Mathematically, this relationship can be numeralized
1
(1)
where,
r is the mean radius of earth.
(3)
(4)
go dh
g dhg
g
dhg
go
(5)
r2
dhg
(r + hg )2
(6)
dh =
dh =
hg
Z
dh =
0
r2
dhg
(r + hg )2
hg
dhg
(r + hg )2
0
hg
1
2
h=r
r + hg 0
1
1
2
+
=r
r + hg r
r + r + hg
2
=r
r(r + hg )
=
Thus,
h=
r
r + hg
hg
(7)
(8)
(9)
3. First we will consider the isothermal region where the temperature remain relatively
constant. Temperature, pressure and density at the base of isothermal region are
(10)
go
P
=
(h h1 )
P1
RT
(11)
=
=
P1
1 T1
1
(12)
(13)
Thus,
5. Now consider the gradient region, and the temperature variation can be written as,
T T1
dT
=
h h1
dh
(14)
1
dT
(15)
(16)
7. Integrating Equation 16 between the base and some given altitude h, yields,
Z T
Z P
dP
go
dT
=
R T1 T
P1 P
P
go
T
=
ln
P1
R T1
go
R
P
T
=
P1
T1
ln
(17)
(18)
T
T1
=
1
T
T1
go
R
go
R
1
or,
=
1
T
T1
go
( R
+1)
(19)
The computation of pressure and density at different layer using standard expressions, listed in Table 1.
Gradient layer
go
R
P
T
= T1
P1
go
( R
+1)
T
=
1
T1
Isothermal layer
P
P1
In a normal day, the standard atmosphere will always be reliable, since the assumptions
used to develop the mathematical models are not violated. But on a non-standard day,
this model cannot be completely relied upon. Hence, it is necessary to define two more
new altitudes based on the standard atmosphere model, which will be discussed in the
next section of this course.
Module-1
Lecture-3
Altitude and Airspeed
Pressure Altitude
In the previous module, we studied the concept of standard atmosphere and the behavior
of pressure and density at isothermal and gradient layers. Now, we introduce the concept
of pressure and density altitudes.
Pressure altitude is the altitude associated with a given pressure assuming standard atmosphere or standard atmospheric conditions. In other words, pressure altitude is the
altitude an airplane would be at, if it was a standard day.
The airplanes altimeters measures the altitude based on the sea level pressure (101325 P a), for a standard atmosphere. So, when the pilot starts the
airplane, he sets the altimeter for this sea level pressure setting.
While pressure altitude provides a correction for pressure, it does not take into consideration the ambient temperature of the air - a factor that, on a hot day when performance
of the aircraft is degraded, is far more critical.
Density Altitude
Density altitude is defined as the altitude at which the density of the Standard Atmosphere
is same as the density of the air being evaluated. The density altitude is the pressure
altitude corrected for the standard temperature.
Solved Example 1:
Calculate the standard atmosphere values of T , P , and at a Geo-potential altitude of 15
km.
Solution:
From temperature altitude map, T = 288.16 K (sea level condition)
The calculation will be carried out first from sea level to 11km and then from 11km to
15km.
Gradient Region: from h = 0 to h = 11.0km, with lapse rate of = 6.5K/km. So,
P = P1
= 1
T
T1
T
T1
go
R
go
[ R
+1]
15 = 11 e[ RT ](hh1 )
(1)
Here the subscript 11 refers to the values at h = 11.0km. The calculations result in
pressure and density at h = 15.0km as :
P15 = 1.2112 104 N/m2
15 = 0.1947kg/m3
Solved Example 2:
If an airplane is flying at an altitude where the actual pressure and temperature are
4.72 104 N/m2 and 255.7K respectively, calculate the pressure, temperature and density altitudes?
Solution:
Using standard atmospheric table, we find that
Pressure altitude = 6km (i.e. altitude corresponding to pressure = 4.7 104 N/m2 in
standard atmosphere table/figure)
Temperature altitude = 5km (or 38.2 or 59.5km) (altitude corresponding to Temp =
255.7K is standard atmosphere)
Use equation of state = P/RT to find the density as; = 0.643kg/m3
And then using the standard atmosphere table, as obtain:
Density altitude = 6.24km.
Airspeed
Airspeed is the speed of the aircraft relative to air. In aviation industry, synonyms like
indicated air speed (IAS), true air speed (TAS), calibrated air speed(CAS), etc. are used
to denote the same. It is important to know the subtle difference among them.
2(Po P )
(2)
What is the value of density that has to be used in order to find the velocity?
Various Speeds
1. Indicated Air Speed (IAS):
The speed indicated by the airspeed indicator in the cockpit, which is based on the
Pitot - static tube attached to the airplane.
2. Calibrated Air Speed (CAS):
The indicated airspeed correct for the position and instrument errors. In standard
atmospheric conditions, this is equal to the True Air Speed (TAS).
3. Equivalent Air Speed (EAS):
The calibrated air speed corrected for adiabatic and compressibility effects. The altitude effects are included in this speed.
To explain the three airspeed, let us assume that an aircraft is in cruise at an altitude of h, where the density is , dynamic pressure is q and the corresponding
velocity is v. Now if we want to simulate the same dynamic pressure at mean sea
level (qo ), the corresponding velocity is known as equivalent air speed.
4. True Air Speed (TAS)
The airspeed of the airplane relative to the undisturbed air.
True Air Speed (TAS) & Equivalent Air Speed (EAS) relation:
Suppose an airplane is flying at an altitude (ha ) and experiencing dynamic pressure (Pa ).
3
We define equivalent airspeed as that speed with which the aircraft needs to fly at sea
level to duplicate the actual dynamic pressure (ha ) at a given altitude.so, we can write;
1
1
2
a VT2AS = o VEAS
2
2
The relationship between true airspeed and indicated airspeed is given by Equation 3.
Hence,
r
vT AS = vEAS
(3)
where,
o - Density of air at sea level
- Density of air at a given altitude
Pitot-Static tube
3. The front end of the tube A is open to free stream to trap the total pressure (Po )
during the flight.
4. Whereas tube B is a closed mouth tube having equally spaced peripheral holes to
communicate with the surrounding air. Thus, tube B will be capturing the static
pressure (Ps ).
5. The output of the pressure sensor is usually in volts (V ). In order to use this
setup for velocity measurement, one has to calibrate the pressure sensor. Once the
calibration chart is available for the specific pressure sensor, we can convert voltage
(V ) to Pascal (P a).
Stagnation Pressure or Total Pressure (Po )
It is the pressure measured at a point where the molecules are brought to rest isentropically.
Static Pressure (Ps )
It is the pressure exerted by the fluid due to its random motion.
Module-2
Lecture-4
Introduction to Performance of Flight and
Experiments
Performance of flight
Module Agenda
Aerodynamic nomenclature used for flight performance
Definition of forces, in steady and symmetrical straight line flight
Cruise flight
Thrust and power required
Thrust and power available
Maximum flight velocity
Altitude effects on power available and power required
Range and endurance.
Climb performance
Maximum angle of climb
Maximum rate of climb
Altitude effects on power available and power required
Estimation of profile Drag coefficient (CDo ) and Oswalds efficiency (e) of
an aircraft from experimental data obtained is steady and level flight.
Figure 1: Definition of angles, axes and velocities in steady, symmetrical and straight line
flight
Xb
Xs
Stability axis X-axis (Xs -axis align along the air relative velocity)
Zb
Zs
Vv
Vh
Horizontal-velocity component
RC
Rate of Climb
2
Module-2
Lecture-5
Steady and level flight - Equations of motion, Drag
polar and Thrust required
F|| = ma = m
dv
dt
(1)
Next, the summation of all forces in the direction perpendicular to the aircrafts airrelative velocity, V , can similarily be represented by Equation 2.
X
F =
mV 2
r
(2)
P
F|| and
F as given in
where,
(3)
(4)
F||
mV 2
r
centripetal acceleration
Assuming that there is no change in the mass of the aircraft i.e. fuel consumption is
negligible and assuming that the aircraft velocity remain constant i.e. no acceleration,
Equation 3 & 4 can be simplified to as given in Equation 5 & 6
X
F = T sin + T + L W cos = 0
T D =0
LW =0
2
(5)
(6)
T =D
(7)
L=W
(8)
Figure 2 depicts the steady, symmetrical, straight line flight where Equation 7 & 8 are
satisfied.
Note: Cruise flight is a steady (no acceleration), level flight ( 0, wings level) where
the aerodynamic drag of the aircraft is balanced by the thrust delivered by engine, and the
aerodynamic lift balances the weight of the aircraft
(9)
W
L
D
W
CL
CD
(10)
Expression given in Equation 10 suggests that for cruising with the minimum thrust
required (which is to be delivered by engine); the aircraft needs to fly such that the ratio
of CL /CD is at maximum. For a given Reynolds number and Mach number, CL , CD
and CL /CD are functions of the angle of attack.
Reynolds number is a dimensionless quantity used in fluid mechanics to predict
similar flow pattern in different fluid flow situation. Similarly , Mach number is also
a dimensionless quantity that is the ratio of speed of an object moving in a fluid to
that of the speed of sound in the medium/fluid.
The typical variations of CL with CD is depicted in Figure 3. The relationship
between CL and CD is traditionally known as the Drag Polar, as given in Equation
11
CD = CDo + KCL2
3
(11)
As it can be seen from Figure 5, for a particular aircraft,[CL /CD ]max could be
achieved max only at a particular (fixed) angle of attack. We now try to find out
what is that angle of attack for any given aircraft.
For that we first need to have an insight through [CL /CD ]max . The maximum value
of aerodynamic efficiency (Emax ) and the value of CL at which CL /CD is maximum
4
CL
=
=0
CL Emax
CL CDo + KCL2
E=
=0
CDo KCL2 = 0
thus,
where, CLEmax = CL at
CLEmax =
h i
CL
CD
CDo
K
CDEmax = 2CDo
(12)
max
Emax
1
CL
= p
=
CD max
2 CDo K
(13)
The above expressions in Equation 12 and 13 suggest how to estimate the value
for [CL /CD ]max and the value of coefficient of lift at [CL /CD ]max . That is, estimate
CLEmax by using known values of CDo & K.
From the lift curve slope i.e. CL vs curve of the aircraft, we can determine that
at what angle of attack () the CL,a/c has the value same as we obtained for CLEmax
p
(i.e. CDo /K). This is the angle of attack at which the aircraft should fly to ensure
[CL /CD ]max i.e. maximum aerodynamic efficiency.
5
Example:
Now, if an aircraft with wing loading W/S is cruising at a fixed altitude and at a particular
to ensure CL /CD is maximum then what should be the velocity of the aircraft to maintain
cruise flight?
Solution:
To solve this question, One should clearly understand the requirement for cruise condition.
For an aircraft to cruise at a given altitude, the weight of the aircraft should be balanced
by the lift generated by the aircraft. Thus, for a given CL , the velocity of the aircraft
should be sufficient enough to generate enough lift to balance its weight. To identify the
velocity that will generate enough lift to balance the aircrafts weight can be obtained using
the following steps. To estimate this, consider;
1
L = V 2 SCL = W
2
Here the CL is for maximum aerodynamic efficiency, i.e. CLEmax so,
1
W = V 2 SCLEmax
2
s
2W
S
V =
CLEmax
as
CDo
CLEmax =
K
v
u 2W
u
VminTreq = t q S
C
KDo
(14)
So this is the velocity with which the aircraft should fly at a particular for [CL /CD ]max
(i.e. for CLEmax ) to maintain cruise.
Module-2
Lecture-6
Cruise Flight - Power required, Velocity for
Minimum Power required
WV
Preq
CL
CD
s
=
2
2W 3 CD
SCL3
(1)
1
3
CL2
CD
aircraft.
Now an interesting question arises that how the power required is dependent
on the velocity of an aircraft?
In order to find an answer to this question let us write Equation 1 in another way
CL2
Preq = DV = qSV CD = CDo +
qSV
ARe
2
qS
qSV
Preq = CDo +
ARe
W2
Preq
1
1
V S
= V 3 SCDo + 2
2
ARe
(2)
1
Preq
3
V 2 S
= V 2 SCDo 2
=0
V
2
ARe
W2
3 2 4 2
3
V S
=0
V 2 S CDo 4
2
ARe
1 2
C
3 2
3 L
V S CDo
=0
2
ARe
1
CDo CDi = 0
3
where CDi is the induced drag.
So the aerodynamic condition for minimum power required is
CDi = 3CDo
(3)
Now to calculate CL for minimum power required we know that, induced drag
coefficient,
CDi = KCL2
Using Equation 2 we can write:
KCL2 = 3CDo
r
3CDo
CLminPreq =
K
2
(4)
3/2
Once we get CLminPreq , then what is the velocity for cruise at which CL /CD
value is maximum (for minimum power required)?
As it is well known that, lift needs to balance weight in cruise. So,
1
L = V 2 SCL = W
2
This could also be written as
1
W = V 2 SCLminPreq
2
s
2 W
S
V =
CLminPreq
So by using the result obtained in Equation 3 the velocity for minimum power
required can be shown to be:
VminPreq
v
u 2 W
u
=t qS
3CDo
(5)
Hence once the altitude is decided, the pilot should be instructed to trim the airplane
at VminPreq to satisfy the minimum power required condition.
This speed at a given altitude could easily be obtained by substituting the values
of W/S, CDo , K in Equation 5.
Module-2
Lecture-7
Cruise Flight - Thrust and Power available,
Maximum and minimum cruise velocity, Effects of
altitude on power
Thrust available
As we have seen earlier, thrust and power requirements are dictated by the aerodynamic characteristics and weight of the airplane. In contrast, thrust and power
available are strictly associated with the engine of the aircraft.
The thrust delivered by typical reciprocating piston engines used in aircraft with
propellers varies with velocity as shown in Figure 1(a).
It should be noted that the thrust at zero velocity (static thrust) is maximum and
it decreases with increase in forward velocity. The reason for this behavior is that
the blade tip of the propellers encounter compressibility problems leading to abrupt
decrease in the available thrust near speed of sound.
However, as seen from Figure 1(b), the thrust delivered by a turbojet engine stays
relatively constant with increase in velocity.
Figure 1: Variation in available thrust with velocity of the (a) reciprocating enginepropeller powered aircraft and (b) turbojet engine powered aircraft
Power
Power required for any aircraft is a characteristic of the aerodynamic design and weight
of that aircraft. However, the power available, PA is a characteristic of the power plant
(engine) of the aircraft. Typically, a piston engine generates power by burning fuel in the
cylinders and then using this energy to move pistons in a reciprocating fashion (Figure
2). The power delivered to the piston driven propeller engine by the crankshaft is termed
Figure 3: Power required and power available variation with velocity (propeller driven
aircraft)
Figure 4: Power required and power available with velicity (jet engine)
and
W2
Preq
1
1
V S
= V 3 SCDo + 2
2
ARe
2 W
S
o CL
(1)
2
2W 3 CD
So CL3
(2)
(3)
(4)
For a fixed value of CL and CD between sea level and altitude, dividing Equation 3
by Equation 1 and Equation 4 by Equation 2, we obtain
r
o
Valt = Vo
r
o
PR,alt = PR,o
(5)
(6)
So, from the known values of power required, PR,o and velocity, Vo of an aircraft at
sea level we can obtain power required, PR,alt and velocity, Valt at an altitude.
A typical variation of PR v/s V for various altitudes has been presented in Figure
5. It could be seen that power required curves experience an upward and rightward
translation and as well as slight clockwise rotation as altitude increases.
In this discussion we will assume that PA and TA are directly proportional to the altitude
density. The variation of maximum power available and power required both at sea level
and at an altitude is shown in Figure 6. It can be understood that by plotting power
available and power required as function of velocity for various altitudes, one can quickly
estimate the maximum speed at a given altitude.
Figure 6: Change in the power required and power available curve with altitude
Module-2
Lecture-8
Cruise Flight - Range and Endurance of Propeller
Driven Aircraft
SF C =
N (f uel)
(J/s)(s)
(1)
Endurance
In order to stay airborne for the longest duration, i.e. for maximum endurance the engine
must use minimum Newtons of fuel per unit time. From the Equation 1, we can see that:
N (f uel)
SF C(PR )
(s)
1
(2)
So from Equation 2 depicting the proportionality, we quickly conclude that for maximum
endurance, the power required by the airplane should be minimum. We have already
shown in our previous discussions, that for an aircraft to fly at the minimum power
3/2
N (f uel) J
s = N (f uel)
(J/s)(s)
s
(3)
Thus, cP dt represents the differential change in the weight of fuel over a small interval of
time, dt. Let,
Wo - gross weight of the airplane
W1 - weight of the airplance without fuel
Wf - weight of the fuel
Then, we have:
W1 = Wo Wf
(4)
dWf = dW = cP dt
(5)
and
dt =
dW
cP
(6)
Denoting endurance as E
E
W1
dt =
0
Wo
W1
E=
Wo
dW
cP
dW
cP
(7)
Range
Now considering range; in order to cover the longest distance, we must ensure minimum
weight of fuel consumed per unit distance. From the relations discussed above, we can
get the proportionality:
N (f uel)
SF C(PR )
(m)
V
Thus for obtaining maximum range for any flight, the ratio PR /V should be minimum.
[PR /V ]min for cruise flight implies that thrust required is minimum and for TR to be
minimum, CL /CD should be maximum. Minimum value of PR /V precisely corresponds
to the tangent point in Figure 1, which also corresponds to [L/D]max or [CL /CD ]max . Now
L
D max
W1
V dW
cP
ds = V dt =
Wo
Wo
ds =
0
W1
Wo
R=
W1
V dW
cP
V dW
cP
(8)
Breguet Formula
For a propeller driven aircraft, we know that:
PA = P
thus,
P =
DV
PA
=
(9)
(10)
Multiplying Equation 10 by W/W and noting that for steady, level flight, W = L, we get:
Z Wo
Z Wo
L dW
W
R=
dW =
W1 c D W
W1 cD W
Z
CL Wo dW
c CD W1 W
3
thus,
R=
CL W o
ln
c CD W1
(11)
Similarly by using Equation 7 and Equation 9 and by applying steady, level flight condition, L = W , we get:
Z
Wo
E=
W1
dW
=
cP
Wo
W1
dW
=
cDV
Wo
W1
L dW
c DV W
Substituting,
1
L = W = V 2 SCL and then V =
2
2 W
S
CL
we get:
Z
Wo
E=
W1
CL
c CD
SCL dW
2 W 32
(12)
(13)
Module-2
Lecture-9
Cruise Flight - Range and Endurance of Jet driven
Aircraft.
N (f uel)
(N (thrust))(s)
N (f uel)
= (T SF C)TA
s
(1)
(2)
Endurance
For level, un-accelerated flight, the pilot adjusts the throttle such that thrust available, TA equals the thrust required, TR . Therefore, weight of fuel consumed per
hour will be minimum when thrust required is minimum.
We know that for minimum thrust required, CL /CD should be maximum.
Therefore for a jet aircraft, maximum endurance occurs when the airplane is flying
at a velocity such that TR is minimum.
Let us calculate the expression for endurance of a jet aircraft.
Let dW be the very small change in the weight of the airplane due to fuel consumption over a time increment dt. Then
dW = ct TA dt
dt =
dW
ct TA
(3)
(4)
Range
Similarily to obtain the expression for range, we know from earlier discussions that
in order to cover the longest distance, the aircraft should only consume minimum
weight of fuel per unit distance. For a jet aircraft:
N (f uel)
(T SF C)TA
=
(m)
V
For steady, level flight, TA = TR , minimum weight of fuel per unit distance corresponds to a minimum TA /V . Kindly note that, since TA = TR , hence range of
aircraft (with jet engine) will be maximum if N (f uel)/m is minimum or TR /V is
minimum.
[TR /V ]min corresponds to tangent point shown in Figure 1
TR
V
min
TR
1
1
V
CL2
2 W
S
CL
(5)
CD
Hence maximum range for a jet aircraft occurs when the aircraft is flying at a
1/2
velocity such that CL /CD is maximum. It can be shown that such a requirement
corresponds to:
r
CL =
3CDo
K
The expression for overall range for a Jet aircraft can be derived as:
ds = V dt =
R
V dW
ct TA
W1
ds =
R=
Wo
V
W ct TA
d
For steady, level flight, the pilot adjusts the throttle such that TR = TA and recalling
for steady, level flight L = W and T = D, we get:
Z Wo
V CL dW
R=
ct C D W
W1
since,
s
V =
2W
SCL
R becomes,
1
Wo
R=
CL2
CD
dW
S ct W 12
W1
thus,
1
r
1
2 1 CL2 21
R=2
Wo W12
S ct C D
(6)
Module-2
Lecture-10
Climb Performance - Introduction and Equations of
Motion.
Climb performance
Let V T is the power available and V D is the power required for the level flight.
For climbing flight, V D is not equal to the power required, because power is required
to overcome a component of weight.
V T V D = excess power
so,
RC =
excess power
W
(1)
Referring Figure 2(a), one could easily recognize that V1 is the speed for maximum
rate of climb (due to maximum excess power) & V2 is the speed at which rate of
climb is zero (no excess power).
Referring Figure 2(b), one can see the variation of excess power RC with speed.
Excess power increases to maximum and then reduce with speed (Refer Figure 2(a)).
Similar is tha variation of RC with speed (Refer Figure 2(b)).
Maximum angle of climb and maximum rate of climb: Are they same?
By plotting RC vs V one may find the max RC at corresponding altitude.
By plotting max RC vs altitude (straight line plot), the service ceiling and absolute
ceiling can be obtained easily by linear extrapolation.
What is service ceiling and absolute ceiling?
Service ceiling
Service ceiling is defined as the height at which, under standard atmospheric conditions, an
aircraft is unable to climb faster than a specified rate (100 feet or 30 meters per minute).
Absolute ceiling
On the other hand, absolute ceiling is defined as is the highest altitude at which an airplane
can sustain level flight, which means the altitude at which the thrust of the engines at full
power is equal to the total drag at minimum drag speed. In other words it is defined as
the altitude where the maximum sustained rate of climb is zero.
Velocity hodograph
In the analysis of climb performance, it can be useful to produce a plot of the vertical
velocity against the horizontal velocity for a given altitude Figure 3.
This plot is called a velocity hodograph.
The maximum angle of climb max can be obtained by drawing a tangent to the
above curve through the origin.
The angle between the tangent and Vx axis gives the value of max .
A tangent parallel to Vx axis gives the maximum rate of climb.
Module-3
Lecture-11
Stability and Control - Discussion on Equilibrium,
Static and Dynamic Stability
Equilibrium
If a system in an equilibrium state, returns to equilibrium following a small disturbance, the state is said to be stable equilibrium Figure 1.
On the other hand, if the system diverges from equilibrium when slightly disturbed,
the state is said to be an unstable equilibrium.
Strictly speaking, Figure 1(d) is also a case of stable equilibrium, because a very
small disturbance from equilibrium would result in a force and moment imbalance
that would return the ball to its original equilibrium state.
But a little extra disturbance, towards right could cause the ball to move past the
apex, which would produce a force and moment imbalance that would cause the
ball to move away from its original equilibrium state.
This type of stable equilibrium can sometime occur with an aircraft in trimmed flight:
a very dangerous situation.
Thrust developed by engine is either constant with airspeed or decrease with increasing air speed. (Drag increase in speed)
In static equilibrium with regard to translational in the direction of motion, the
forward component of thrust must balance the drag (T = D)
At constant angle of attack, a small increase in airspeed will result in
Increase in Drag
Either a decrease in Thrust or No change in Thrust
Therefore, this force imbalance in the axial direction will result in a deceleration,
which will tend (initial tendency) to restore the airspeed to the original value.
Conversely, if airspeed is decreased by a small disturbance with no change in angle
of attack, the drag will become less than the thrust and the aircraft will accelerate
back (tends to) to the equilibrium airspeed.
Module-3
Lecture-12
Stability and Control - Some frequently used
notations, Trim - A pilots perspective
Camber Line is the locus of points midway between the upper and lower surface
of an airfoil section as measured perpendicular to itself.
Leading Edge (LE) is the most forward point on the camber line.
Trailing Edge (TE) is the most rearward point on the camber line.
Chord Line is a straight line connecting the leading edge and the trailing edge.
Maximum Camber is the maximum distance between the chord line and the
camber line as measured perpendicular to the chord line.
Local Thickness at any point along the chord line is the distance between the
upper and lower surface as measured perpendicular to the camber line.
Maximum Thickness is the maximum distance between the upper and lower
surfaces as measured perpendicular to the camber line.
D: Drag parallel to V (opposite to motion)
L: Lift perpendicular to V
A: Axial Force parallel to chord
N : Normal force perpendicular to chord
F
1
V 2 Sref
2
M
1
V 2 Sref c
2
where,
CD , CL , CA , CN are force coefficients
Cm is pitching moment coefficient.
Important Relations
CL = CN cos CA sin
CD = CA cos + CN sin
Similarly,
CN = CL cos + CD sin
CA = CD cos CL sin
Since CD CL so, axial force coefficient CA is often negative
The ease of maintaining static trim is related to a property of the equilibrium state
- static stability.
Module-3
Lecture-13
Stability and Control - Discussion on Center of
Pressure, Aerodynamic Center and Trim
CN
c
c
From definition of aerodynamic center,
Cmac
Cmac
=0
Cmx xac x CN
=
+
=0
c
c
Thus,
xac
x
=
c
c
Cmx
CN
The location of the aerodynamic centre can be determined from the knowledge of
how the normal force coefficient and moment coefficient about any point on the
chord line vary with angle of attack.
For most of the airfoils, the position of aerodynamic centre is very nearly constant
at quarter chord.
Note:
Location of aerodynamic centre does not depend on magnitude of the
aerodynamic coefficient. It depends on the derivative of the aerodynamic
coefficient with respect to angle of attack.
xac
x
=
c
c
Cmx
CN
xac =
CL is always positive
Cmac is negative for cambered airfoil
4
For equilibrium (trim), the aerodynamic center of cambered wing must be forward of
the center of gravity.
Let us check if this equilibrium is a statically stable equilibrium or not?
Static Stability
For static stability, a small increase in angle of attack must produce a negative
pitching moment about the center of gravity, to decrease the angle of attack back
towards trim.
Conversely, a small decrease in angle of attack must produce a positive pitching
moment to increase the angle of attack to restore the trim.
Thus, the pitching moment about CG must vary with angle of attack such that
any change in angle of attack produces a change of opposite sign in the pitching
moment about center of gravity.
Cm
1
M
= V 2 S
c
<0
this gives,
xac CL
<0
c
but
CL
xac
>0
>0
c
This is for less than stall
5
Conclusion B
xac /c > 0 implies, for static stability, the aerodynamic centre must be aft of the
centre of gravity.
From conclusion A, for trim, ac must be ahead CG (cambered)
From conclusion B, for stability, ac must be behind/aft of CG.
Conclusion A and B are opposite. Thus a simple cambered wing is not statically
stable in free flight
For trim,
xac =
Cmac
CL
c
For stability,
xac CL
<0
c
Cmac CL
<0
CL
For trim, CL / > 0 for below stall as lift coefficient must be positive to support
the weight.
Thus to get stable trim Cmac must be positive.
If stable trim is to be maintained, a single wing with no tail must always produce a
positive pitching moment coefficient about aerodynamic centre. We know that,
Symmetric airfoil produces Cmac = 0
Cambered airfoil produces Cmac < 0
To produce Cmac , airfoil section must have negative camber over atleast some section
of the chord.
Note:
An airfoil with negative camber throughout the chord is inefficient in
producing positive lift and has a low maximum lift coefficient.
A better choice is an airfoil that has negative camber over only some
portion of the chord near the trailing edge i.e.
Reflex aerofoil.
See
Figure 4
It is possible to design an aircraft consisting of only a single flying wing with no
tail, so that stable trim flight can be achieved.
However, such designs are not preferred as this is prone to poor handling qualities
(damping is less). A better option usually is to combine a wing with a conventional
tail.
Module-3
Lecture-14
Static Stability - Wing contribution, Tail
contribution and Static Margin
Wing Contribution
Since,
cos (w iw ) 1
sin (w iw ) w iw
CL CD
zcg 0
Hence,
Cmc g = CLw (xcg xac,w ) + Cmacw
CLw = CLo + CL
Cmcg = Cmacw + (CLo + CL ) (xcg xac,w )
Cmcg = Cmacw + CLo (xcg xac,w ) + CL (xcg xac,w )
1
(1)
where,
: Downwash at tail
iw : Wing setting angle
it Tail setting angle
Moment about c.g. due to lift and drag at tail.
Kindly note that lift at tail will be perpendicular to the local velocity at tail (which
is different from the velocity free stream). Similarly, drag experienced at tail will be
along the local velocity at tail. The free stream velocity and local velocity directions
differ by downwash angle . Hence,
Mc.g.,t = lt [Lt cos ( iw ) + Dt sin ( iw )] + zt Lt sin ( iw )
zt Dt cos ( iw ) + Cma.c,t
For small angle approximation along with
CL CD
2
zcg 0
Cma.c,t = 0 Tail airfoil symmetric aerofoil
cos(w iw ) 1
sin(w iw ) (w iw )
We have,
1
Mc.g,t = Lt .lt = Vt2 St CLt lt
2
Note Lt at tail is proportional to dynamic pressure at tail and not free stream
dynamic pressure.
Cmc.g,t =
Cmc.g,t
M
c.g,t
1
V 2 f reestream
2
Cw
St lt
CL where, =
=
Sw Cw t
St lt
CL
Sw Cw t
1
V 2 t
2
1
V 2 f s
2
Assuming e = 1
ARw
Elliptic lift distribution
2CL,w
ARw
CLt = CL,t
w iw + it o
w
w
Cmc.g,t =
St lt
CL = VH t CLt
Sw cw t
w
Cmc.g,t = t VH CL,t w iw + it o
(2)
Cmc.g,t
w
= VH CL,t {iw + o it } VH CL,t 1
Cmc.g,t = Cmo +
(3)
Cm
Cm
= VH CL,t 1
c.g,t
a/c
+Cmf s
where,
Cmow = Cmacw + CLo (xcg xac,w )
Cmot = VH CL,t (o + iw it )
From the expression for Cmcg
(Cm )a/c = CLw
a/c
+ C m f s
Which gives,
xnp = xac,w
C m f s
CLw
CL
+ t VH ,t
CL,t
1
= N
xnp = xac,w
1
CLw
+ C m f s
(Cm )a/c = CLw (xcg xac,w ) VH t CL,t 1
CL
+ t VH ,t
CL,t
(4)
+
C m f s
CLw
Cm
CL
Cm
CL
a/c
a/c
CL,t
= xcg xac,w VH
C L w
CL,t
= xcg xac,w VH
CLw
+
Cmf s
CLw
Cm
1
+
CL f s
+
Cm
CL
fs
xcg xnp
CL,t
Cm
xnp = xac,w + VH
1
CLw
CL f s
(
)
C
C
Cm
L
m
,t
= xcg xac,w + VH
CL a/c
CLw
CL f s
Cm
(5)
Module-3
Lecture-15
Static Stability and Control - Elevator Control
power, Elevator Angle to trim and Estimation of
Stick Fixed Neutral Point
Longitudinal Control
Control of the pitch attitude of the airplane can be achieved by deflecting the elevator.
Elevator Effectiveness
When the elevator is deflected, it changes the lift and the pitching moment of the airplane.
Change in lift for the airplane, CL ;
CL = CLe e
where,
CLe =
CL
e
Cm
e
Lt
1
V 2 Sw
2
St CLt
e
Sw e
CLt
: Elevator Effectiveness
e
1
St
St CLt
e =
CL,t e
Sw e
Sw
CLe =
St
CL,t
Sw
(1)
(2)
trim =
(3)
etrim
Cmo CL + Cm CLtrim
=
Cme CL Cm CLe
or
etrim =
Cme
Cm
C
Cmo
CL Ltrim
CCmL CLe
Cme CCmL CLe
Assuming,
Cm
CL Cme
CL e
We have,
etrim
Cmo
=
Cme
Cm
C
CL Ltrim
Cme
Cm
Cm
=
CL
CL
so
Cm
CL
Cm o
CLtrim
Cme
Cme
e
= eo +
CL
CL trim trim
etrim =
(e)trim
where
eo =
Cmo
Cme
C
m
e
C
= L
CLtrim
Cme
(4)
etrim = eo +
e
CLtrim
CLtrim
(5)
This equation can be used to estimate the value of elevator deflection required to trim a
given aircraft at a particular CLtrim
e
CLtrim
CLtrim
m
etrim
CL
=
CLtrim
Cme
2W/S
1
V 2
2
and record e
Plot etrim v/s CLtrim
Cross plot [e/CL ]trim v/s xcg to get neutral point.
no
x cg =0.4
e trim
CL
x cg =0.2
d e
dC L
trim
x cg =0.3
x cg
x cg =0.4
x cg =0.3
x cg =0.2
Module-3
Lecture-16
Stick Free Stability and Control
Stick-Free Stability
Each control surface on an aircraft is mounted through a hinge. A deflection of
control surface results in modified aerodynamic moment about the hinge line. The
pilot (or some mechanism) must supply adequate force/ moment to counter this
hinge moment.
Moment acting at hinge line of an elevator is to be overcome by pilot exerting a
force on the control stick.
1
2
e V
Se ce
2
where,
Se - Area aft of the hinge line
ce - Chord from hinge line to T.E. of flap
In irreversible control system, despite the controls are directly connected to surfaces;
there is additional boost system that requisite force, moment to the controls.
As a consequence, when pilot moves the stick then the control surface moves. However, movement of control surface will not move the stick.
The boost system is supposed to hold the control surface in a fixed position once it
is set at that position.
For a reversible system in hands off condition (pilot let go off the stick!) the control
surface will float to the position where there is no hinge moment (force or moment
applied to the control surface disappear).
The condition where the hinge moment is equal to zero is called stick free condition. It is important to note that under this condition, the aerodynamic characteristics including the neutral point change.
Ch = Cho + Cht t + Che e + Cht t
Let us assume, there is no tab, t = 0 Cht t = 0.
Also let us assume that the tail has symmetric airfoil cross-section
Cho = 0
Ch = Cht t + Che e
When elevator is set free, then Ch = 0
Ch = Cht t + Che e = 0
(e )f ree = (e )f loat =
Cht
Cht
!
t
Usually Cht and Cht are negative, so elevator floats up when t is positive.
Cht
Cht
f ree
!
t CLe
#
CLe Cht
1
t
CLt Cht
let
CLt
CLe
dt
=
=
CLt
de
Cht
= CLt 1
t
Che
dCm
dce
0
CL Stick free
= xcg xac +
VH 1
dCL
dCL f s CLw
Module-3
Lecture-17
Stick Free Stability and Control - Stick free Neutral
Point, Stick force and Estimation of Stick free
neutral Point.
This is the location of xcg for which (dCm /dCL ) = 0 which means,
0
C
dC
e
L
m
t
+
VH t 1
- - - Stick free
n
0o = xac,w
dCL f s CLw
we know
dCm
n
o = xac,w
dCL
CLt
+
VH t 1
- - - Stick fixed
CLw
fs
since,
Cht
and f = 1
Che
C 0Lt = f CLt
We can show that,
0
n
o n
o =
CLt
CLw
Cht
VH t 1
Cht
As,
Cht < 0
CLt > 0
CLw > 0
Che < 0
Therefore,
n
o n
0o > 0
Therefore, it can easily be understood that stick free neutral point is always ahead
of stick fixed neutral point as represented in the given Figure 1
The static margin will be (
n0o xcg )
dCm
dCL
0
= xcg n
0o
Therefore,
n
0o xcg =
dCm
dCL
0
Stick Force
At CLtrim , net stick force is zero since Ch = 0 (Hinge moment at elevator) as pilots
hands are desired to be free. Thus, at trim,
Cht
t
(e)f loat =
Che
Suppose we want to change from CLtrim to CL , The pilot has to apply force to bring
e to desired position. At CLtrim , e floats at such an angle that net Cmcg . When
new CL is aimed, e again takes new float position.
dCm
Cm =
{CL CLtrim }
dCL f ree
To achieve equilibrium, elevator has to be moved to balance this increase in Cmcg
(Cm )e + (Cm )CL = 0
dCm
Cme e +
{CL CLtrim } = 0
dCL f ree
dCm
CL CLtrim
e =
dCL f ree
Cme
Hinge moment due to this additional e
Ch = Che e
dCm
CL CLtrim
Ch = Che
dCL f ree
Cme
This need to be balanced by stick force, Fs
Fs = He /lg
where, lg is the length of the effective lever arm associated with the mechanism.
Fs He
2
1
Fs = G V 2 Se ce Che
2
"
dCm
dCL
0
f ree
CL CLtrim
Cme
#
we know that
CL =
2W/S
2W/S
and
C
=
L
trim
2
V 2
Vtrim
Hence,
dCm
Fs
dCL
0
V2
W Che
1 2
GSe ce
Vtrim
S Cme
f ree
0
dFs
2V
dCm
2
dV
Vtrim
dCL f ree
At V = Vtrim
0
dFs
2
dCm
dV
Vtrim
dCL f ree
dFs /dV < 0 implies we need to pull to increase CL and decrease speed and still
maintain cruise flight.
dCm
dCL
dCL
h
i
0
= xcg n
o
f ree
Fs
q
CL
n'o
dF s /q
dC L
x cg =0.4
x cg =0.3
x cg =0.2
x cg
x cg =0.4
x cg =0.3
x cg =0.2
Module-4
Lecture-18
Maneuvering Flight: Introduction, Steady
Coordinated turn.
Turning Flight
mV 2
R
V2
V2
R=
Rg
g tan
Pitch rate due to (yaw rate), when the aircraft is turning using component of lift
(bank angle is )
q = sin
and
V
V = R =
R
2
V2
g tan
Therefore,
q=
g
sin tan
V
Load factor,
n=
lif t
L
L
1
=
=
=
weight
mg
L cos
cos
1
n=
cos
Now,
1
cos =
n
n2 1
sin =
n
tan = n2 1
g
q = sin tan
V
g n2 1
=
n2 1
V
n
g n2 1
=
V
n
1 g
q = n
n V
Module-4
Lecture-19
Maneuvering Flight: Steady Pull up, Relationship
between stick fixed Neutral and Maneuvering point.
Steady pull-up
Figure 1: Figure representing free body diagram of an aircraft during pull up maneuver
Lw =
mV 2
R
L = nW
(n 1)W =
mV 2
R
As, W = mg and q = V /R
q=
g
(n 1)
V
R=
V2
1
g (n 1)
Hence,
Note:
Pull-up:
q=
g
(n 1)
V
1
n
n
g
V
lt
V
Because of this t there will be additional lift on the tail during maneuver. Therefore,
elevator needs to be deflected up to nullify this additional nose down moment (due to
additional lift at tail).
lt
=0
V
qlt
V
A factor of 1.1 is generally used to account for the contribution to stability due to
pitch rate from the fuselage position ahead of wing. So:
e = 1.1
qlt
V
Thus, during maneuver (with pitch rate q), the elevator required to trim a/c at
CL = nW /(V 2 S/2) pitching at the rate q will be given by
1.1glt
k
de
CL
n
e = eo +
dCL
V 2
n
de
nW
1.1glt
k
e = eo +
n
dCL 12 V 2 S
V 2
n
By differentiating the above expression with respect to n one can show that,
"
( 2W
)#
de
1 1.1glt
k0
dC
m
S
= 2
1+ 2 +
dn
V
n
Cme dCL f ix
where,
k 0 = 0 for pull-up
k 0 = 1 for steady coordinated turn
2W
S
xcg n
o =
xcg = n
o
1.1glt Cm e
2W
S
1.1glt Cm e
=n
m
2W
S
n
m = n
o
1.1glt Cm e
2W
S
So, n
m > n
o i.e. stick fixed maneuvering point is aft of stick fixed neutral point.
This is consistent as the pitch rate provides additional stability through tail.
Module-4
Lecture-20
Maneuvering Flight: Stick Fixed Maneuvering point
n
Cme dCL f ix
#
"
k0
de
1 2 W
1.1glt Cme
S
1 + 2 + xcg n
= 2
o
dn
V Cme
n
2 W
S
1.1glt Cme
k0
xcg n
o =
1+ 2
n
2 W
S
(1)
(2)
Pull-up; k 0 = 0
xcg n
o =
1.1glt Cme
2 W
S
xcg = n
m
so Equation 2 becomes,
1.1glt Cme
n
0 = n
m +
2 W
S
k0
1+ 2
n
(3)
Module-4
Lecture-21
Maneuvering Flight: Stick free maneuvering point,
Stick force Gradient
(Cm )maneuver
dCm
=
dCL
(CL CLtrim )
f ree
where,
CL =
nW
1
V 2 S
2
#
Che
nW
W
1 2
1
V 2 S
V S
f ree Cme
2
2
W Che dCm
Fs = GSe ce
(n 1)
S Cme dCL f ree
1
Fs = GSe ce V 2
2
dCm
dCL
dFs
W Che
= GSe ce
xcg n0m
dn
S Cme
where,
n0m = n0o +
1.1Che
Cme
glt Che
W
Che 2
S
1
(1)
Recall: n0m (stick free) maneuvering point is that cg location at which dFs /dn = 0
Note:
Stick force gradient is very important design parameter
As cg shifts aft; Fs per g reduces.
Most aft cg may be limited by it.
Most forward cg may be limited by maximum value of stick free gradient.
Module-5
Lecture-22
Lateral and Directional Aerodynamic Model
c.g.
xb
yb
Figure 1: Body fixed axis system
Force Equation
Fy = m(v + ru pw)
1
mg
u2 + v 2 + w2
u, v, w are the components of total air relative velocity VT along body fixed axes x,
y, z respectively.
2
Using,
Cy =
Fy
1
VT2 S
2
we have:
1
Fy = V T 2 SCy + mg cos sin = m(v + ru pw)
2
where,
pb
rb
+ Cyr
+ Cy + Cya a + Cyr r
2VT
2VT
C y = C yp
Yawing Moment (N )
The yawing moment is also function of p, r, , a and r and hence it can be
experessed as:
1
N = VT2 SbCn
2
where,
Cn = Cn p
pb
rb
+ Cnr
+ Cn + Cna a + Cnr r
2VT
2VT
pb
rb
+ Cl r
+ Cl + Cla a + Clr r
2VT
2VT
Thus, Lateral-Directional stability can be studied by the help of following three equations:
1 2
pb
rb
Fy = VT S Cyp
+ Cyr
+ Cy + Cya a + Cyr r + mg cos sin
2
2VT
2VT
= m(v + ru pw)
pb
1 2
rb
+ Cnr
+ Cn + Cna a + Cnr r
N = VT Sb Cnp
2
2VT
2VT
= Ixz p + Ix r + pq(Iy Iz ) + Ixz qr
1 2
pb
rb
L = VT Sb Clp
+ Cl r
+ Cl + Cla a + Clr r
2
2VT
2VT
= Ix p Ixz r + qr(Ix Iy ) Ixz pq
Module-5
Lecture-23
Directional Stability and Control
Directional stability
Directional or weathercock stability is related to stability of the aircraft about z-axis.
An airplane is said to possess static directional stability, if it has initial tendency
to comeback to its equilibrium condition when subjected to some form of yawing
disturbance.
Figure 1: Static directional stability (a) Equilibrium condition of zero yaw (b) Sideslip
disturbance
From Figure 1, the airplane will have directional stability, if it generates positive
yawing moment to counter positive yaw () disturbance. (Cn > 0)
Sf lf
(per degree)
Sw b
where,
K1
K2
Sf
lf
CLv
sidewash angle
d
where,
1
v 2 vertical tail
2
1
2
v
2
f ree stream
v =
Wing area
Sv
Zw
c/4
V
+
V cos (
)
V cos (
al
(Norm ent to
n
compo edge of
leading )
g
the win
+ )
y
in g
Right W
From Figure 3, the right wing will experience more dynamic pressure (as the velocity
seen by wing leading edge is V cos( )) as compared to the left wing.
Yawing moment due to drag force on right wing will be
Sw
1 2
NwR = V SCD
y cos2 ( )
2
2
1
Nw = V 2 CD
2
Nw
1
V 2 Sb
2
w
y
= CD sin 2
b
y
= CD sin 2 > 0
b
Directional Control
Yv = CLv Qv Sv
lv Sv dCLv
r
Sw b dr
dCLv
lv Sv
Cn = v Vv
r ; Vv =
dr
Sw b
Cn =
1
V 2 Sw
2
= v
Cn = Cnr r
Cnr = v Vv
dCLv
dr
dCLv
dCLv dv
=
= CLv
dr
dv dr
is the flap effectiveness parameter which depends on ratio of rudder area to vertical
fin area
The sign of Cnr is negative
Module-5
Lecture-24
Lateral Stability and Control
Lateral stability
An airplane is said to have roll (lateral) stability, if a restoring moment is generated when
it is disturbed in bank orientation ().
The restoring moment is function of side slip angle, .
The requirement for roll stability is that Cl < 0.
The rolling moment created in airplane due to side slip angle also depends on
Wing dihedral
Wing sweep
Position of wing and fuselage
Vertical tail
The major contributor to Cl is the wing dihedral angle, .
When an aircraft is disturbed from a wing-level attitude, it will begin to side slip.
Decre
ase
in ang
Rolling moment
le of
a
ttack
as
Incre
f
ngle o
e in a
attack
v n=V sin
V (due to side slip)
=
u
=
On wing 2, angle of attack will decrease. Resulting in negative rolling moment to
positive side slip angle.
Cl < 0
b
2
1
= V 2 CL,w
2
c(y).y.dy
0
1
= V 2 CL,w
2
c(y).y.dy
2b
b
2
cydy
0
Z b
2
2
cydy
= and y =
Sw 0
1
S
Lw = 2 V 2 CL,w y
2
2
Lw
y
(Cl,w ) = 1 2 = CL,w
b
V Sb
2
Cl = CL
y
b
S1 2
V y cos2 ( )
22
S1 2
V y cos2 ( + )
22
Hence,
(Lw ),T otal = CL
S1 2 2
V y cos ( ) cos2 ( + )
22
zv
c .g.
dCL
d
.zv
v
hence,
Cl
v
= v
Sv zv
CL,v
Sw b
Roll control
It is achieved by differential deflection of small flaps called ailerons.
The basic principle lies on the fact that due to differential deflection of ailerons, the
lift distribution over the wing becomes unequal, causing a rolling moment.
An approximate expression for roll control power can be obtained using simple strip
integration method.
Wing
y1
y
y2
Center line
= (Lift).y
Cl =
L
Cl Qcydy
Cl cydy
=
=
qSb
QSb
Sb
Cl = CL .
d
.a = CL ..a
da
Module-6
Lecture-25
Various Coordinate System
zb - axis points downwards in the aircraft plane of symmetry, completing the righthanded Cartesian system.
Ground Speed (Vg ):
Velocity of the body fixed coordinate relative to the earth fixed coordinate system.
Airspeed (V ):
The velocity of the body fixed coordinate system relative to the atmosphere fixed coordinate
system.
Ground speed and airspeed are related as:
Vg = V + Vw
where,
Vw is the velocity of atmosphere relative to earth, or wind.
(1)
Module-6
Lecture-26
6 DOF equations of motion
c.g.
xb
yb
xI
yI
Inertial
Frame
zI
Figure 1: Inertial frame and body fixed frame
F =
X
d
d
M=
H
mV ;
dt
dt
H : Angular Momentum
mV : Linear Momentum
Consider an airplane as shown in Figure 2
m
xb
yb
Figure 2: m element
Let V be the velocity of the elemental mass, m of the airplane. V is the velocity
of m with respect to inertial frame.
Let F be the resulting force acting on the mass m. By Newtons second law
(assume mass is constant; not changing with time).
F = m
dV
dt
also
X
F = F
dr
dt
Then
X
d X
dr
Vc +
m
dF = F =
dt
dt
dVc
d X dr
F =m
+
m
dt
dt
dt
d2 X
dVc
+ 2
F =m
rm
dt
dt
rm = 0
dVc
dt
Moment equation:
d
d d
H =
(r V ) m
dt
dt dt
dr
V = Vc +
= Vc + r
dt
M =
H=
H =
(r Vc ) m +
[r ( r) m]
Vc is constant with respect to the summation and can be taken outside the summation sign.
H=
(rm) Vc +
r ( r) m
rm = 0 (Definition of c.g.)
X
H=
r V m
Let
= pi + qj + rk
r = xi + yj + z k
Solving for H, with and r yields
Hx = p
X
X
X
X
y 2 + z 2 m q
xym r
xzm
X
X
x2 + z 2 m r
yzm
X
X
X
x2 + y 2 m
Hz = p
xzm q
yzm + r
Hy = p
xym + q
Z Z Z
Ix =
y +z
Z Z Z
Ixy =
Z Z Z
Iz =
Z Z Z
m ; Iy =
x2 + z 2 m
Z Z Z
xym ; Ixz =
x2 + y 2 m ; Iyz
xzm
Z Z Z
=
yzm
Since the body fixed axis is not inertial frame, we need to use the following definition
of derivative of a vector
dA
dA
=
+A
dt Inertial
dt Body
So
dVc
F =m
+ Vc
dt B
dH
M=
+H
dt B
Solving these two equations, we get
Fx = m (u + qw rv)
Fy = m (v + ru pw)
Fz = m (w + pv qu)
L = Ix p Ixz r + qr(Iz Iy ) Ixz pq
M = Iy q + rp (Ix Iz ) + Ixz p2 r2
Fxgravity = mg sin
Fygravity = mg cos sin
Fzgravity = mg cos cos
Module-6
Lecture-27
Euler angles & Kinematic equations
Euler Angles
Formulas described in previous lecture provide linear and angular velocity w.r.t.
(X, Y , Z) Body fixed coordinate system.
Now analysis of the relative motion of body fixed reference frame and inertial reference frame is required.
There are several methods of tracking the orientation of the X, Y , Z frame with
respect to earth based inertial frame X 0, Y 0, Z 0.
The most common approach is based on Euler angles.
The introduction of Euler angle is based on a rigorous sequence that involves the
introduction of a number of reference frames based on successive rotations.
Step1: Introduce a reference frame X1 , Y1 , Z1 that moves with the aircraft
center of gravity while being parallel to the earth based frame X 0, Y 0, Z 0.
Step2: Rotation around Z1 of an angle from the frame X1 , Y1 , Z1 to a new
frame X2 , Y2 , Z2 with Z1 = Z2 .
Step3: Rotation around Y2 of an angle from the frame X2 , Y2 , Z2 to a new
frame X3 , Y3 , Z3 with Y2 = Y3 .
Step4: Rotation around X3 of an angle from the frame X3 , Y3 , Z3 to the
aircraft body frame X, Y , Z with X3 = X.
Kinematic Equations
Angular velocities in body frame can be expressed in terms of rate of change of the
Euler angles.
+
+
=
= P i + Q
j + Rk
Starting with the transformation X1 , Y1 , Z1 X2 , Y2 , Z2 , we have Z1 = Z2 which
implies k1 = k2 . Therefore
=
k1 =
k2
+
+
=
k2 +
j3 + i
=
= P i + Q
j + Rk
In transformation X2 , Y2 , Z2 X3 , Y3 , Z3 ,
U3
U2
cos 0 sin
1
0 V3
V2 = 0
W3
sin 0 cos
2
i3
i
cos
0
sin
=
0
j2
1
0 j3
sin
0
cos
k
2
3
Similarly, in the transformation X3 , Y3 , Z3 X, Y , Z
U
1
0
0
0 cos sin
V
V3
0 sin cos
W
3
0
0
i3
1
i
j3 = 0 cos sin
j
0 sin cos
k
3
3
(1)
(2)
(3)
(4)
Expression for k2 in i,
j, k
k2 = sin i3 + cos k3 = sin i + cos k3
so
where, k3 = sin
j + cos k,
j3 = cos
j sin k
Now using
+
+
=
k2 +
j3 + i
=
= P i + Q
j + Rk
we have
k2 ( sin i3 + cos sin
+ (cos
+ i
=
j + cos cos k)
j sin k)
P = sin
+ cos sin
Q = cos
sin
R = cos cos
Rearranging in matrix form
P
1
0
sin
Q = 0 cos cos sin
1
sin
tan
cos
tan
0
cos
sin
Q
Module-6
Lecture-28
Flight Path Equations, Gravity Equations and
Combined 6-DOF Model
V 0 = X 0i + Y 0
j + Z 0k
In X, Y , Z frame (body fixed)
V = X i + Y
j + Z k
Since assumed frame (X1 , Y1 , Z1 ) is parallel to (X 0, Y 0, Z 0) frame, so
U1 = X 1 = X 0
V1 = Y1 = Y 0
W1 = Z1 = Z 0
Using transformation equation from reference frame (X1 , Y1 , Z1 ) to reference frame
(X2 , Y2 , Z2 )
cos sin 0
U
U
U
1
2
X Y Z X Y Z
V1 = sin cos 0 V2 = R 1 1 1 2 2 2 V2
0
0
1
W2
W2
1
Using transformation equation from reference frame (X2 , Y2 , Z2 ) to reference frame
(X3 , Y3 , Z3 )
U
cos
0
sin
U
U
X2 Y2 Z2 X3 Y3 Z3
=
=
R
0
V3
V2
1
0 V3
sin
0
cos
W
W
3
2
3
Using transformation equation from reference frame (X3 , Y3 , Z3 ) to reference frame
(X, Y , Z)
U
0
0
U3
1
X3 Y3 Z3 XY Z
=R
V3 = 0 cos sin V
V
0 sin cos
W
W
3
1
U
U
X
X3 Y3 Z3 XY Z
X2 Y2 Z2 X3 Y3 Z3
X1 Y1 Z1 X2 Y2 Z2
0
.R
.R
= V1 = R
V
Y
W
Z 0 W
1
X
X
X3 Y3 Z3 XY Z
X2 Y2 Z2 X3 Y3 Z3
X1 Y1 Z1 X2 Y2 Z2
0
.R
.R
=
R
Y
Y
Z
Z 0
Therefore
U1
X 0
=
V1 =
Y
W
Z 0
1
cos sin 0
cos 0 sin
1
0
0
sin cos 0 0
1
0 0 cos sin V
0
0
1 sin 0 cos 0 sin cos
X 0
=
Y
Z 0
cos cos sin cos + cos sin sin sin sin + cos sin cos
sin cos cos cos + sin sin sin sin cos + sin sin cos
sin
cos sin
cos cos
Gravity equations
g = k0g = k1 g = k2 g = gXi + gY
j + gZ k
From previous discussions
gX = g sin
gY = g cos sin
gZ = g cos cos
Figure 1: Block diagram showing the integration of the aircraft equation of motion
Module-7
Lecture-29
Flight Experiment: Instruments used in flight
experiment, pre and post flight measurement of
aircraft c.g.
Module Agenda
Instruments used in flight experiments.
Pre and post flight measurement of center of gravity.
Experimental procedure for the following experiments.
(a) Cruise Performance: Estimation of profile Drag coefficient (CDo ) and Oswalds efficiency (e) of an aircraft from experimental data obtained during
steady and level flight.
(b) Climb Performance: Estimation of Rate of Climb RC and Absolute and
Service Ceiling from experimental data obtained during steady climb flight
(c) Estimation of stick free and fixed neutral and maneuvering point using flight
data.
(d) Static lateral-directional stability tests.
(e) Phugoid demonstration
(f) Dutch roll demonstration
1. Airspeed Indicator: The airspeed indicator shows the aircrafts speed (usually in
knots ) relative to the surrounding air. It works by measuring the ram-air pressure
in the aircrafts Pitot tube. The indicated airspeed must be corrected for air density
(which varies with altitude, temperature and humidity) in order to obtain the true
airspeed, and for wind conditions in order to obtain the speed over the ground.
2. Attitude Indicator: The attitude indicator (also known as an artificial horizon)
shows the aircrafts relation to the horizon. From this the pilot can tell whether
the wings are level and if the aircraft nose is pointing above or below the horizon.
This is a primary instrument for instrument flight and is also useful in conditions
of poor visibility. Pilots are trained to use other instruments in combination should
this instrument or its power fail.
3. Altimeter: The altimeter shows the aircrafts altitude above sea-level by measuring
the difference between the pressure in a stack of aneroid capsules inside the altimeter
1
wikipedia
and the atmospheric pressure obtained through the static system. It is adjustable
for local barometric pressure which must be set correctly to obtain accurate altitude
readings. As the aircraft ascends, the capsules expand and the static pressure drops,
causing the altimeter to indicate a higher altitude. The opposite effect occurs when
descending.
4. Turn Coordinator: the turn and slip indicator (T/S) and the turn coordinator
(TC) variant are essentially two aircraft flight instruments in one device. One
indicates the rate of turn, or the rate of change in the aircrafts heading, the other
part indicates whether the aircraft is in coordinated flight, showing the slip or skid
of the turn. The slip indicator is actually an inclinometer that at rest displays the
angle of the aircrafts lateral axis with respect to horizontal, and in motion displays
this angle as modified by the acceleration of the aircraft.
5. Heading Indicator: The heading indicator (also known as the directional gyro,
or DG; sometimes also called the gyrocompass, though usually not in aviation applications) displays the aircrafts heading with respect to magnetic north. Principle
of operation is a spinning gyroscope, and is therefore subject to drift errors (called
precession) which must be periodically corrected by calibrating the instrument to
the magnetic compass.
6. Vertical Speed Indicator: The VSI (also sometimes called a variometer, or rate
of climb indicator) senses changing air pressure, and displays that information to
the pilot as a rate of climb or descent in feet per minute, meters per second or knots.
7. Yoke: A yoke, alternatively known as a control column, is a device used for piloting
some fixed-wing aircraft. The pilot uses the yoke to control the attitude of the plane,
usually in both pitch and roll. Rotating the control wheel controls the ailerons and
the roll axis.
8. Manifold pressure: The manifold pressure gauge is an engine instrument typically
used in piston aircraft engines to measure the pressure inside the induction system
of an engine. The induction system of couse being the air / fuel mixture that is
between the throttle and the cylinders.
Experiment # 1
Pre and post flight measurement of a/c cg
Center of gravity is calculated as follows:
Let:
X - Distance of the reference point from NOSE wheel
Y - Distance of the reference point from REAR wheel
N - Weight measured in nose wheel
L - Weight measured in left wheel
R - Weight measured in right wheel
Use formula:
Xcg =
(X N ) + {(L + R) Y }
L+R+N
Module-7
Lecture-30
Flight Experiment: Cruise and Climb performance
Experiment # 2
Estimation of profile Drag coefficient (CDo ) and Oswalds efficiency (e) of an aircraft from experimental
data obtained during steady and level flight.
The following steps will elaborate the procedure to estimate the performance characteristics such as profile drag coefficient (CDo ) and oswalds efficiency factor (e) of a propeller
driven aircraft using flight data obtained during its cruise.
Record the velocity of flight, engine manifold pressure, outside air temperature, rpm
of the engine, during the cruise.
Use the conversion equations and calibration plots to obtain break horse power of
the engine from the above recorded data.
Now, the power required during the steady and level flight is given as:
W2
Preq
1
1
V S
= V 3 SCDo + 2
2
ARe
(1)
(2)
V5
MP
Weight: Initial
Time: Start
Weight: Final
Time: End
RPM
Experiment # 3
Flight test for steady climb experiment
Step 1: Record the take-off weight (WT ).
Step 2: Note the initial altitude h1 and time t1 and the final altitude h2 and the
corresponding time t2 during the steady climb experiment.
Step 3: Simultaneously record the velocity (V ), rpm of propeller, propeller pitch
setting, manifold pressure of the engine and outside air temperature from the cockpit.
Step 4: Repeat the experiment for different climb velocities.
Step 5: Record the weight after landing (WL ). The weight that has to be considered
for calculations is average of takeoff and landing weights.
W =
(W1 + W2 )
2
Step 6: Find out the rate of climb for each velocity and the corresponding angle of
climb using the following equations.
RC
(h2 h1 )
To
, RCtrue = RCobserved
(t2 t1 )
Ts
sin =
RC
V
To
Ts
H1
H2
t1
t2
H = H2 H1
t = t2 t1
V5
Module-7
Lecture-31
Flight Experiment: Flight tests to estimate stick free
and fixed, neutral and maneuvering points
no
x cg =0.4
e trim
CL
x cg =0.2
d e
dC L
trim
x cg =0.4
x cg =0.3
x cg =0.2
x cg =0.3
Altitude
OAT
xcg
Weight: Initial
Weight: Final
x cg
dCm
dCL
dCL
h
i
0
= xcg n
o
f ree
CL
n'o
dF s /q
dC L
x cg =0.4
x cg =0.3
Fs
q
x cg =0.4
x cg =0.3
x cg =0.2
x cg =0.2
Fs
Altitude
OAT
xcg
Weight: Initial
Weight: Final
x cg
nm
x cg =0.4
x cg =0.3
d e
dn
x cg =0.4
x cg =0.3
x cg =0.2
x cg =0.2
Altitude
OAT
xcg
V5
: bank angle
x cg
n'm
Fs
dF s
dn
x cg ,1
x cg ,2
x cg ,3
Fs
Altitude
OAT
xcg
V5
x cg
Module-7
Lecture-32
Test methods to determine dominant
lateral-directional stability
coefficients: Estimation of
side slip coefficient Cy , Estimation of yaw moment
coefficient Cn , Estimation of roll derivative Cl
mg
1
VT2 S
2
+ Cy + Cya a + Cyr r
= CL =
L
1
VT2 S
2
we get:
CL + Cy + Cya a + Cyr r = 0
Generally, Cya is negligible and further if we neglect contribution to side force due
to rudder, (please note rudder has dominating contribution to yawing moment),
then side-force equation can be represented as:
C L + C y = 0
2
(1)
or,
C y
= CL
The derivative Cy can be estimated with the help of measured values of CL , and
. The lift coefficient CL is obtained through CL = W/qS where q = VT2 /2
W
1
VT2 S
2
= CL
rb
pb
+ Cnr
+ Cn + Cna a + Cnr r
2VT
2VT
Cn
= r
r
Cn
where, Cnr is negative and Cn is positive by definition for a stable airplane.
Thus for an aircraft having directional stability, the slope of the plot of v/s r
will be positive.
3
Cn
= r
r
Cn
Step 4: Plot vs. r, we will find the slope of the plot will be positive.
Note:
Since Cnr is negative and Cnbeta is positive Cnr /Cn will be positive.
rb
pb
+ Clr
+ Cl + Cla a + Clr r
2VT
2VT
Cl
= a
a
Cl
This equation shows that the aileron is deflected to counteract the dihedral effect.
Further, an equation can be generated to obtain the relationship between side slip
angle and aileron deflection required to execute steady side slip maneuver, provided
the value Cla and Cl are known.
4
Cl
= a
a
Cl
Step 4: Plot vs a, we will find the slope of the plot will be negative.
Note:
Since Cla is negative and Cl is negative Cla /Cl will be negative.
Module-7
Lecture-33
Test methods to determine dominant
lateral-directional stability coefficients: Steady
Coordinated turn, Estimation of roll derivative (Clr ),
Estimation of yaw moment coefficient (Cnr )
rb
pb
+ Clr
+ Cl + Cla a + Clr r
2VT
2VT
rb
+ Cla a + Clr r = 0
2VT
1
Given the value of Cla and Clr , the drivative Clr can be estimated.
Neglecting Clr contribution, we have:
Clr
rb
+ Cla a = 0
2VT
This rolling moment equation indicates that the aileron is applied solely to counteract the rolling moment due to yaw which generally tends to bring the lower wing
further down. Also
r=
g
g
=
u
VT
since, u
= VT . Substituting this into
Cl r
rb
+ Cla a = 0
2VT
we have:
g
b
Cl r
+ Cla a = 0
VT 2VT
g b
= Cla a
Clr
2 VT2
a
1
2
VT
g
2
b
= Cla a
VT2
rb
pb
+ Cnr
+ Cn + Cna a + Cnr r
2VT
2VT
under the steady coordinated turn maneuver (no side slip,p = 0 and = 0), it
reduces to:
Cnr
rb
+ Cna a + Cnr r = 0
2VT
This equation indicates that the rudder is held to counteract the moments due to
yaw damping Cnr and the aileron yaw Cna .
If Cna is neglected then,
rb
= Cnr r
2VT
Cnr 2VT
r
=
r
Cn r
b
Cnr
Generally Cnr , Cnr are negative. Thus, one is expected to see r/r to be negative
for a stable aircraft. Also knowing the numerical values of Cnr , r, r,VT and b, the
dutch roll damping Cnr can be estimated.
2VT
b
Module-7
Lecture-34
Phugoid effect and dutch roll motion
Q2. When aircraft speed decreases from transonic to subsonic speed, the aerodynamic
centre of the wing moves forward, and therefore the Neutral point (stick fixed) of
the aircraft shifts
a) AFT
b) FWD
c) No effect.
Q3. When an aircraft trim speed is changed from 60 m/s to 100 m/s maintaining the
same altitude, the elevator will float
a) More
b) less
c) No effect.
Q4. If only the horizontal tail contribution was considered for derivative, than
how many times will become if tail arm is doubled.
a) two times
b) three times
c) four times
d) remains same.
Q10.
Q11.
For an aircraft, following data was obtained in flight for propeller-wind milling
case. Given that prop-wind milling stick fixed neutral point , = 0.45 and
= 20
a) During the landing phase, C.G. was estimated to be at 0.22 , calculate the
maximum lift coefficient at which the equilibrium can be maintained
during landing (assume No ground effect).
b) If the ground effects were also included, will it permit equilibrium at higher
or lower lift coefficient compared to (a) above. Explain briefly
Q12.
= 120
12.0
For the aircraft, stick fixed stability margin was 0.25 and stick free stability margin
was 0.2.
c) Find stick free maneuvering point
d) Find C.G. limits permitted if the magnitude of stick force per 'g'( ) is to
remain within 10 and 30 N per g.
Q13.
Consider the following airplane in propeller-off condition being tested in a
wind-tunnel.
weight = 700
wing MAC= 1.2 ,
0 = 2 ()
= 0
= +2
ARw =6,
ARtail =4,
span wing = 6 ;
span tail = 2
2-d lift curve slope of wing and tail = 0.1 per degree
Distance between tail A.C.(aerodynamic center) and C.G. of the aircraft is 6.5
Elevator Area = 0.52
Elevator chord = 0.25
0 = 3
= 0.4
= 0.5
= 0.9
G=1.5 rad/m
Ch e = .007 per degree
Ch = .005 per degree
Ch = .003 per degree
t
The following Cm v/s CL curve were obtained for elevator fixed and elevator free case
Find:
(a) Stick fixed and stick free Neutral point.
(b) What is the trim airspeed for stick fixed case?
(c) If the aircraft was to be trimmed at airspeed of 200 KMPH, find the tab setting
required and also calculate the magnitude of for the C.G. location of . .
Assume does not change.
Q14. For an airplane (W/S = 400 N/m2) flying at some altitude ( = 0.8
Kg/m3), the following data were recorded.
V(m/sec) X c.g. = 0.20 X c.g. = 0.25
50
2.0 pull
1.0 pull
57.3
0.0
0.0
70.71
4.0 push
2.0 push
Pull +ve
Push -ve
Q15.
For an aircraft having X c.g. = 0.3, the stick force per g for level turn at
= 60 was 50 N per g
dF s
dn
N0 = 0.4, Nm
= 0.5 . Solve the problem graphically.
1.
120
3.8 pull
2.8 pull
2.
120
12
8.0 pull
6.0 pull
Find the stick free maneuver point. Solve the problem graphically.
Q17. Derive from the Abinitio for steady cruise flight conditions the following,
3
(a)
at
= 0.76
(b)
at
= 1.32
Q18. How for a level cruise will change with respect to the following
(a)
(b)
(c)
0 and
3
2
2
2
2
2 0