AIRCRAFT CONTROL AND SIMULATION AIRCRAFT CONTROL AND SIMULATION Third Edition Dynamics, Controls Design, and Autonomous Systems BRIAN L. STEVENS FRANKL. LEWIS ERIC N. JOHNSON Coverimage:SpaceShuttleLanding©3Dsculptor/Shutterstock Coverdesign:Wiley Thisbookisprintedonacid-freepaper.♾ Copyright©2016byJohnWiley&Sons,Inc.Allrightsreserved PublishedbyJohnWiley&Sons,Inc.,Hoboken,NewJersey PublishedsimultaneouslyinCanada Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmittedinanyformor byanymeans,electronic,mechanical,photocopying,recording,scanning,orotherwise,exceptas permittedunderSection107or108ofthe1976UnitedStatesCopyrightAct,withouteithertheprior writtenpermissionofthePublisher,orauthorizationthroughpaymentoftheappropriateper-copyfeeto theCopyrightClearanceCenter,222RosewoodDrive,Danvers,MA01923,(978)750-8400,fax(978) 646-8600,oronthewebatwww.copyright.com.RequeststothePublisherforpermissionshouldbe addressedtothePermissionsDepartment,JohnWiley&Sons,Inc.,111RiverStreet,Hoboken,NJ 07030,(201)748-6011,fax(201)748-6008,oronlineatwww.wiley.com/go/permissions. LimitofLiability/DisclaimerofWarranty:Whilethepublisherandauthorhaveusedtheirbesteffortsin preparingthisbook,theymakenorepresentationsorwarrantieswiththerespecttotheaccuracyor completenessofthecontentsofthisbookandspecificallydisclaimanyimpliedwarrantiesof merchantabilityorfitnessforaparticularpurpose.Nowarrantymaybecreatedorextendedbysales representativesorwrittensalesmaterials.Theadviceandstrategiescontainedhereinmaynotbesuitable foryoursituation.Youshouldconsultwithaprofessionalwhereappropriate.Neitherthepublishernor theauthorshallbeliablefordamagesarisingherefrom. Forgeneralinformationaboutourotherproductsandservices,pleasecontactourCustomerCare DepartmentwithintheUnitedStatesat(800)762-2974,outsidetheUnitedStatesat(317)572-3993or fax(317)572-4002. Wileypublishesinavarietyofprintandelectronicformatsandbyprint-on-demand.Somematerial includedwithstandardprintversionsofthisbookmaynotbeincludedine-booksorinprint-on-demand. IfthisbookreferstomediasuchasaCDorDVDthatisnotincludedintheversionyoupurchased,you maydownloadthismaterialathttp://booksupport.wiley.com.FormoreinformationaboutWiley products,visitwww.wiley.com. LibraryofCongressCataloging-in-PublicationDataisavailable. ISBN978-1-118-87098-3(hardback) 978-1-118-87099-0(epdf) 978-1-118-87097-6(epub) Typesetin10/12ptTimesLTStdbySPi-Global,Chennai,India PrintedintheUnitedStatesofAmerica 10987654321 ToDeane,Bill,andRichard B.L.S. Tomysons,ChrisandRoma F.L. ToAmy,Elliot,andTheresa E.N.J. CONTENTS Preface xi 1 TheKinematicsandDynamicsofAircraftMotion 1 1.1 Introduction / 1 1.2 VectorOperations / 3 1.3 MatrixOperationsonVectorCoordinates / 7 1.4 RotationalKinematics / 16 1.5 TranslationalKinematics / 20 1.6 Geodesy,CoordinateSystems,Gravity / 23 1.7 Rigid-BodyDynamics / 34 1.8 AdvancedTopics / 44 References / 58 Problems / 59 2 ModelingtheAircraft 63 2.1 Introduction / 63 2.2 BasicAerodynamics / 64 2.3 AircraftForcesAndMoments / 75 2.4 StaticAnalysis / 101 2.5 TheNonlinearAircraftModel / 108 2.6 LinearModelsAndTheStabilityDerivatives / 116 vii viii CONTENTS 2.7 Summary / 137 References / 138 Problems / 139 3 Modeling,Design,andSimulationTools 142 3.1 Introduction / 142 3.2 State-SpaceModels / 144 3.3 TransferFunctionModels / 155 3.4 NumericalSolutionOfTheStateEquations / 170 3.5 AircraftModelsForSimulation / 179 3.6 Steady-StateFlight / 185 3.7 NumericalLinearization / 199 3.8 AircraftDynamicBehavior / 205 3.9 FeedbackControl / 213 3.10Summary / 241 References / 241 Problems / 243 4 AircraftDynamicsandClassicalControlDesign 250 4.1 Introduction / 250 4.2 AircraftRigid-BodyModes / 257 4.3 TheHandling-QualitiesRequirements / 274 4.4 StabilityAugmentation / 287 4.5 ControlAugmentationSystems / 303 4.6 Autopilots / 322 4.7 NonlinearSimulation / 344 4.8 Summary / 371 References / 372 Problems / 374 5 ModernDesignTechniques 377 5.1 Introduction / 377 5.2 AssignmentOfClosed-LoopDynamics / 381 5.3 LinearQuadraticRegulatorWithOutputFeedback / 397 5.4 TrackingACommand / 413 5.5 ModifyingThePerformanceIndex / 428 5.6 Model-FollowingDesign / 455 5.7 LinearQuadraticDesignWithFullStateFeedback / 470