1 NASA

1 Technical
Paper
1 2835

1988

User’s Manual for Interactive

LINEAR, a FORTRAN Program
To Derive Linear Aircraft Models

Robert F. Antoniewicz,
Eugene L. Duke,
and Brian P. Patterson
Ames Research Center
Dryden Flight Research Facility
Edwards, Calgornia

National Aeronautics
and Space Administration

Scientific and Technical

Information Division
 CONTENTS

INTRODUCTION . 1

NOMENCLATURE .. . 2
Variables .................................. 2
Superscripts ................................ 6
Subscripts ................................. 6
FORTRAN Variables .............................. 7

PROGRAMOVERVIEW . . 11

EQUATIONSOFMOTION . . . 14

OBSERVATION EQUATIONS . . . . . 17

SELECTION OF STATE. CONTROL. AND OBSERVATION VARIABLES . . . 22

ANALYSIS POINT DEFINITION ............................ 25

Untrimmed . . . . . . . .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. ..........
Straight-and-Level Trim
26
27
Pushover-Pullup .... ........................... 27
Level Turn . . . . . . .. .. .. .. ....... .. .. .. .. .. .. .. ....... .. .. .. .. .. .. .. .. . . 28
29
Thrust-Stabilized Turn
Beta Trim . . . . . . . .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. 29
Specific Power .... 29

NONDIMENSIONAL STABILITY AND CONTROL DERIVATIVES . .. 31

DATAINPUT 33
Input Files ...................................
Title Information ................................
Geometry and Mass Data ........................... 33
. . . . . .
State. Control. and observation variable Definitions
........................
Trim Parameter Specification
. . . . . . 34
37

Test Case Specification

......................
Additional Surface Specification
...........................
37
38
Interactive Data Input ........................... 38

AERODYNAMICMODEL . . 46

OUTPUTFILES . 48

USER-SUPPLIED SUBROUTINES . . 49
Aerodynamic Model Subroutines ........................ 50
Control Model Subroutines .......................... 52
Engine Model Subroutines .......................... 53
.....................

..
Mass and Geometry Model Subroutines 53

r(sIwI
. - m PRECEDING PAGE BLANK NOT FILMED iii
CONCLUDINGREMARKS . . . . 5

APPENDIX A: CORRECTIONS TO AERODYNAMIC C O E F F I C I E N T S FOR A CENTER O F GRAVITY NOT

AT THE AERODYNAMIC REFERENCE P O I N T 51

APPENDIX B: ENGINE TORQUE AND GYROSCOPIC E F F E C T S MODEL 5'

APPENDIX C: OBSERVATION VARIABLE NAMES RECOGNIZED BY L I N E A R ..........

APPENDIX D: STATE VARIABLE NAMES RECOGNIZED BY L I N E A R . . . 7.
APPENDIX E : ANALYSIS P O I N T D E F I N I T I O N I D E N T I F I E R S . 73
APPENDIX F: EXAMPLE I N P U T F I L E . . . . . . . . . . . . . . . . . . . . . . . . .

APPENDIX G: EXAMPLE L I N E A R I Z E D S T A B I L I T Y AND CONTROL DERIVATIVE F I L E . 81

APPENDIX H: EXAMPLE OUTPUT ANALYSIS F I L E . . .. . .

APPENDIX I: EXAMPLE P R I N T E R OUTPUT F I L E . . . . .. 91

APPENDIX J: EXAMPLE USER-SUPPLIED SUBROUTINES .................1 O!

A e r o d y n a m i c Model S u b r o u t i n e s . . . . . . . . . . . . . . . . . . . . . . . . 10'
C o n t r o l Model S u b r o u t i n e . . . . . . . . . . . . . . . . . . . . . . . . . . 11.
E n g i n e Model Interface S u b r o u t i n e . . . . . . . . . . . . . . . . . . . . . . 1 l!
Mass and G e o m e t r y Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

REFERENCES . . .. . .. 11

iv ' i
 SUMMARY

An i n t e r a c t i v e FORTRAN program t h a t p r o v i d e s t h e u s e r w i t h a p o w e r f u l and f l e x -

i b l e t o o l f o r t h e l i n e a r i z a t i o n of a i r c r a f t aerodynamic models i s documented i n t h i s
report. The program LINEAR n u m e r i c a l l y d e t e r m i n e s a l i n e a r s y s t e m model u s i n g non-
l i n e a r e q u a t i o n s of motion a n d a u s e r - s u p p l i e d l i n e a r o r n o n l i n e a r aerodynamic model.
The n o n l i n e a r e q u a t i o n s of motion u s e d are six-degree-of-freedom equations with sta-
t i o n a r y atmosphere a n d f l a t , n o n r o t a t i n g e a r t h a s s u m p t i o n s . The s y s t e m model deter-
mined by LINEAR c o n s i s t s of matrices f o r b o t h t h e s t a t e and o b s e r v a t i o n e q u a t i o n s .
The program h a s been d e s i g n e d t o a l l o w e a s y s e l e c t i o n and d e f i n i t i o n of t h e s t a t e ,
c o n t r o l , and o b s e r v a t i o n v a r i a b l e s t o be u s e d i n a p a r t i c u l a r model.

INTRODUCTION

The program LINEAR d e s c r i b e d i n t h i s r e p o r t w a s d e v e l o p e d a t t h e Dryden F l i g h t

R e s e a r c h F a c i l i t y of t h e NASA Ames Research C e n t e r t o p r o v i d e a s t a n d a r d , docu-
mented, a n d v e r i f i e d t o o l t o d e r i v e l i n e a r models f o r a i r c r a f t s t a b i l i t y a n a l y s i s
and c o n t r o l l a w design. T h i s development w a s u n d e r t a k e n t o a d d r e s s t h e need f o r
t h e a i r c r a f t s p e c i f i c l i n e a r i z a t i o n programs common i n t h e aerospace i n d u s t r y .
Also, t h e l a c k of a v a i l a b l e documented l i n e a r i z a t i o n programs p r o v i d e d a s t r o n g
m o t i v a t i o n f o r t h e development of LINEAR; i n f a c t , t h e o n l y a v a i l a b l e documented
l i n e a r i z a t i o n program t h a t w a s found i n a n e x t e n s i v e l i t e r a t u r e s e a r c h of t h e f i e l d
i s t h a t of Kalviste ( 1 9 8 0 ) .

L i n e a r s y s t e m models of a i r c r a f t dynamics a n d s e n s o r s a r e a n e s s e n t i a l p a r t of
b o t h v e h i c l e s t a b i l i t y a n a l y s i s and c o n t r o l l a w d e s i g n . These models d e f i n e t h e
a i r c r a f t s y s t e m i n t h e neighborhood of an a n a l y s i s p o i n t and are d e t e r m i n e d by t h e
l i n e a r i z a t i o n of t h e n o n l i n e a r e q u a t i o n s d e f i n i n g v e h i c l e dynamics a n d s e n s o r s .
T h i s report d e s c r i b e s a FORTRAN program t h a t p r o v i d e s t h e u s e r w i t h a p o w e r f u l
and f l e x i b l e t o o l f o r t h e l i n e a r i z a t i o n of a i r c r a f t models. L I N E A R is a program
w i t h w e l l - d e f i n e d and g e n e r a l i z e d i n t e r f a c e s t o aerodynamic a n d e n g i n e models a n d
i s designed t o address a w i d e range of p r o b l e m s w i t h o u t t h e r e q u i r e m e n t of p r o g r a m
modification.

The program LINEAR n u m e r i c a l l y d e t e r m i n e s a l i n e a r s y s t e m model u s i n g n o n l i n e a r

e q u a t i o n s of motion and a u s e r - s u p p l i e d l i n e a r or n o n l i n e a r aerodynamic model.
LINEAR i s - a l s o c a p a b l e of e x t r a c t i n g b o t h l i n e a r i z e d e n g i n e e f f e c t s , s u c h as n e t
t h r u s t , t o r q u e , and g y r o s c o p i c e f f e c t s and i n c l u d i n g t h e s e e f f e c t s i n t h e l i n e a r
system model. The p o i n t a t which t h i s l i n e a r s y s t e m model i s d e f i n e d i s d e t e r m i n e d
e i t h e r by c o m p l e t e l y s p e c i f y i n g t h e s t a t e a n d c o n t r o l v a r i a b l e s , o r by s p e c i f y i n g
an a n a l y s i s p o i n t on a t r a j e c t o r y a n d d i r e c t i n g t h e program t o d e t e r m i n e t h e con-
t r o l v a r i a b l e s and r e m a i n i n g s t a t e v a r i a b l e s .

The s y s t e m model d e t e r m i n e d by L I N E A R c o n s i s t s of matrices f o r b o t h t h e s t a t e

m d o b s e r v a t i o n e q u a t i o n s . The program h a s been d e s i g n e d t o p r o v i d e e a s y s e l e c t i o n
Df t h e s t a t e , c o n t r o l , and o b s e r v a t i o n v a r i a b l e s t o be u s e d i n a p a r t i c u l a r model.
r h u s , t h e o r d e r of t h e s y s t e m model i s c o m p l e t e l y u n d e r user c o n t r o l . Further, t h e
?rogram p r o v i d e s t h e f l e x i b i l i t y of a l l o w i n g a l t e r n a t e f o r m u l a t i o n s of b o t h t h e
; t a t e and o b s e r v a t i o n e q u a t i o n s .
 LINEAR has several features that make it unique among the linearization programs
common in the aerospace industry. The most significant of these features is flexi-
bility. By generalizing the surface definitions and making no assumptions of sym-
metric mass distributions, the program can be applied to any aircraft in any phase
of flight except hover. The unique trimming capability, provided by means of a user
supplied subroutine, allows unlimited possibilities of trimming strategies and sur-
face scheduling, which are particularly important for asymmetrical vehicles and
aircraft having multiple surfaces affecting a single axis. The formulation of the
equations of motion permits the inclusion of thrust-vectoring effects. The ability
to select variables for the state, control, and observation vectors of the linear
models, without program modification, combined with the vast array of observation
variables available, allows any analysis problem to be attacked with ease.

The interactive LINEAR program is an extension of the batch LINEAR program

described in Duke and others ( 1 9 8 7 ) . Data describing the aircraft and test case
are input to the program through a terminal or formatted data files similar to the
input files for the batch program. All data can be modified interactively from case
to case. The aerodynamic model can be defined in two ways: a set of nondimensional
stability and control derivatives for the flight point of interest, or a full non-
linear aerodynamic model as used in simulations at Ames-Dryden.

NOMENCLATURE

The units associated with the following quantities are expressed in the English
system. LINEAR will work equally well with any consistent set of units with two
notable exceptions: the printed output and the atmospheric model. Both the printec
output and the atmospheric model assume English units.

Where applicable, quantities are defined with respect to the body axis system.

Variables

A state matrix of the state equation 4 = Ax + Bu; or, axial force (lb)
0

A' state matrix of the state equation Cx = A ' x + B'u

a speed of sound in air (ft/sec)

an,i normal acceleration not at center of gravity (9)

anx x body axis accelerometer at center of gravity (9)

anx,i x body axis accelerometer not at center of gravity (g)

y body axis accelerometer at center of gravity (9)

any,i y body axis accelerometer not at center of gravity (9)

anz z body axis accelerometer at center of gravity (9)

2
 I

t
1
anz ,i

ax
z body axis accelerometer not at center of gravity (9)

acceleration along the x body axis (9)

I ay
acceleration along the y body axis (9)

acceleration along the z body axis (9)

control matrix of the state equation = Ax + BU

~ B'
.
control matrix of the state equation Cx = A ' x + B'u

wingspan ( ft 1

e
C matrix of the state equation Cx = A'x + B'u; or, force or moment
coefficient

mean aerodynamic chord (ft)

I e
I D dynamic interaction matrix for the state equation x = Ax + Bu + Dv; or,
drag force (lb)

dynamic interaction matrix for the state equation CG = A'x + B'u + D'v
I det determinant

E dynamic interaction matrix for the observation equation y = Hx + Fu + EV

E' dynamic interaction matrix for the observation equation

y = H'x + GG + F'u + E'v

ES specific energy (ft)

F feedforward matrix of the observation equation y = Hx + Fu

e
F' feedforward matrix of the observation equation y = H'x + Gx + F'u
i
fPa flight path acceleration (9)

G G matrix of the observation equation y = H'x + G x e + Flu

I

9 acceleration due to gravity (ft/sec2)

altitude ( ft 1

H observation matrix of the observation equation y = Hx + J?U

3
 o b s e r v a t i o n m a t r i x of t h e o b s e r v a t i o n e q u a t i o n y = H'x + GG + Flu

I hi a n g u l a r momentum of e n g i n e r o t o r ( s l u g - f t ' / s e c )

I a i r c r a f t i n e r t i a tensor (slug-ft2)

Ie r o t a t i o n a l i n e r t i a of t h e e n g i n e ( s l u g - f t2)

I X x body a x i s moment of i n e r t i a ( s l u g - f t 2 )

IXY
x-y body a x i s p r o d u c t of i n e r t i a ( s l u g - f t 2 )

x-z body a x i s p r o d u c t of i n e r t i a ( s l u g - f t 2 )

IY y body a x i s moment of i n e r t i a ( s l u g - f t 2 )

IYZ y-z body a x i s p r o d u c t of i n e r t i a ( s l u g - f t 2 )

I Iz

L
z body a x i s moment of i n e r t i a ( s l u g - f t 2 )

t o t a l body a x i s r o l l i n g moment ( f t - l b )

a generalized length (f t )

M Mach number; o r , t o t a l body a x i s p i t c h i n g moment ( f t - l b )

m a i r c r a f t t o t a l mass ( s l u g )

N normal f o r c e ( l b ) ; o r , t o t a l body a x i s yawing moment ( f t - l b )

n load f a c t o r

s p e c i f i c power ( f t / s e c )

P r o l l rate ( r a d / s e c )

Pa a m b i e n t p r e s s u r e ( l b / f t2)

Pt t o t a l p r e s s u r e ( l b / f t2)

p i t c h r a t e (rad/sec )

dynamic p r e s s u r e ( l b / f t 2 )

qc i m p a c t p r e s s u r e ( l b / f t2)

I r yaw r a t e ( r a d / s e c )

4
' Re Reynolds number

Re' Reynolds number p e r u n i t l e n g t h ( f t ' l )

S wing p l a n f o r m a r e a ( f t 2 )

T a m b i e n t t e m p e r a t u r e ( O R ) ; o r , t o t a l a n g u l a r momentum ( s l u g - f t 2 / s e c 2 )

Tt t o t a l temperature (OR)

U v e l o c i t y i n x-axis direction (ft/sec)

U control vector

V t o t a l velocity (ft/sec)

V v e l o c i t y i n y-axis d i r e c t i o n ( f t / s e c )

V dynamic i n t e r a c t i o n v e c t o r

VC calibrated velocity (ft/sec)

Ve equivalent velocity ( f t / s e c )

W v e h i c l e w e i g h t (lb)

W v e l o c i t y i n z-axis direction (ft/sec)

X t o t a l f o r c e a l o n g t h e x body a x i s ( l b )

X state vector

Xt t h r u s t a l o n g t h e x body a x i s ( l b )

Y sideforce ( l b )

Y observation vector

YT t h r u s t a l o n g t h e y body a x i s ( l b )

Z t o t a l f o r c e a l o n g t h e z body a x i s ( l b )

Zt t h r u s t a l o n g t h e z body a x i s ( l b )

a a n g l e of a t t a c k ( r a d )

B a n g l e of s i d e s l i p ( r a d )

Y f l i g h t path angle ( r a d )

Ilx d i s p l a c e m e n t of e n g i n e from c e n t e r of g r a v i t y a l o n g x body a x i s ( f t )

5
AY d i s p l a c e m e n t of e n g i n e from c e n t e r of g r a v i t y a l o n g y body a x i s ( f t )

AZ d i s p l a c e m e n t of e n g i n e from c e n t e r of g r a v i t y a l o n g z body a x i s ( f t )

6a lateral t r i m parameter

6e l o n g i t u d i n a l t r i m parameter

6L i n c r e m e n t a l r o l l i n g moment ( f t - l b )

6M i n c r e m e n t a l p i t c h i n g moment ( f t - l b )

6N i n c r e m e n t a l yawing moment ( f t - l b )

6r d i r e c t i o n a l t r i m parameter

&th t h r u s t t r i m parameter

6X i n c r e m e n t a l x body a x i s f o r c e ( l b )

6Y i n c r e m e n t a l y body a x i s f o r c e ( l b )

6Z i n c r e m e n t a l z body a x i s f o r c e ( l b )

8 p i t c h angle ( r a d )

P d e n s i t y of a i r ( s l u g / f t 3 )

‘c torque from e n g i n e s ( f t - l b )

Tg g y r o s c o p i c t o r q u e from e n g i n e s ( f t - l b )

(9 r o l l angle (rad)

(9L tilt a n g l e of a c c e l e r a t i o n normal t o t h e f l i g h t p a t h from t h e v e r t i c a l

plane (rad)

JI heading angle ( r a d )

engine angular velocity (rad/sec)

Superscripts

d e r i v a t i v e w i t h respect t o t i m e

t r a n s p o s e of a v e c t o r or m a t r i x

Subscripts

ar aerodynamic r e f e r e n c e p o i n t

D t o t a l drag

6
'h altitude

L total l i f t

R r o l l i n g moment

M Mach number

m p i t c h i n g moment

max maximum

min minimum

n yawing moment

P r o l l rate

Q p i t c h rate

r yaw r a t e

s stability axis

X a l o n g t h e x body a x i s

Y a l o n g t h e y body a x i s

Y sideforce

z a l o n g t h e z body a x i s

0 s t a n d a r d day, sea l e v e l c o n d i t i o n s ; o r , a l o n g t h e r e f e r e n c e t r a j e c t o r y

FORTRAN V a r i a b l e s

AIX i n e r t i a a b o u t t h e x body a x i s

AIXE engine i n e r t i a

AIXY i n e r t i a c o u p l i n g between t h e x a n d y body a x e s

AIXZ i n e r t i a c o u p l i n g between t h e x a n d z body a x e s

AIY i n e r t i a a b o u t t h e y body a x i s

AIYZ i n e r t i a c o u p l i n g between t h e y a n d z body a x e s

AIZ i n e r t i a a b o u t t h e z body a x i s

ALP a n g l e of a t t a c k

ALPDOT t i m e r a t e of change of a n g l e of a t t a c k

7
 AMCH Mach number

AMSENG total rotor mass of the engine

AMSS aircraft mass

B wingspan

BTA angle of sideslip

BTADOT time rate of change of angle of sideslip

CBAR mean aerodynamic chord

CD total coefficient of drag

CDA coefficient of drag due to angle of attack

CDDE coefficient of drag due to symmetric elevator deflection

CDO drag coefficient at zero angle of attack

CDSB coefficient of drag due to speed brake deflection

I

CL total coefficient of rolling moment

, coefficient of rolling moment due to beta
CLB
I

CLDA coefficient of rolling moment due to aileron deflection

, CLDR coefficient of rolling moment due to rudder deflection

CLDT coefficient of rolling moment due to differential elevator deflection

CLFT total coefficient of lift

CLFTA coefficient of lift due to angle of attack

CLFTAD coefficient of lift due to angle-of-attack rate

CLFTDE coefficient of lift due to symmetric elevator deflection

, CLFTO lift coefficient at zero angle of attack

CLFTQ coefficient of lift due to pitch rate

CLFTSB coefficient of lift due to speed brake deflection

CLP coefficient of rolling moment due to roll rate

CLR coefficient of rolling moment due to yaw rate

CM total coefficient of pitching moment

8
 ' CMA c o e f f i c i e n t of p i t c h i n g moment due t o a n g l e of a t t a c k

CMAD c o e f f i c i e n t of p i t c h i n g moment due t o a n g l e - o f - a t t a c k rate

CMDE c o e f f i c i e n t of p i t c h i n g moment due t o symmetric e l e v a t o r d e f l e c t i o n

CMO p i t c h i n g moment c o e f f i c i e n t a t z e r o a n g l e of a t t a c k

I CMQ c o e f f i c i e n t of p i t c h i n g moment due t o p i t c h r a t e

i CMSB c o e f f i c i e n t of p i t c h i n g moment due t o s p e e d b r a k e d e f l e c t i o n

CN t o t a l c o e f f i c i e n t of yawing moment

' CNB c o e f f i c i e n t of yawing moment due t o s i d e s l i p

CNDA c o e f f i c i e n t of yawing moment due t o a i l e r o n d e f l e c t i o n

CNDR c o e f f i c i e n t of yawing moment due t o r u d d e r d e f l e c t i o n

CNDT c o e f f i c i e n t of yawing moment due t o d i f f e r e n t i a l e l e v a t o r d e f l e c t i o n

CNP c o e f f i c i e n t of yawing moment due t o r o l l r a t e

CNR c o e f f i c i e n t of yawing moment due t o yaw r a t e

CY t o t a l c o e f f i c i e n t of s i d e f o r c e

CYB c o e f f i c i e n t of s i d e f o r c e due t o s i d e s l i p

CYDA c o e f f i c i e n t of s i d e f o r c e due t o a i l e r o n d e f l e c t i o n

CYDR c o e f f i c i e n t of s i d e f o r c e due t o r u d d e r d e f l e c t i o n

CYDT c o e f f i c i e n t of s i d e f o r c e due t o d i f f e r e n t i a l e l e v a t o r d e f l e c t i o n

DAS l a t e r a l t r i m parameter

DC s u r f a c e d e f l e c t i o n and t h r u s t c o n t r o l a r r a y

DELX d i s p l a c e m e n t of t h e aerodynamic r e f e r e n c e p o i n t a l o n g t h e x body a x i s from

t h e v e h i c l e c e n t e r of g r a v i t y

DELY d i s p l a c e m e n t of t h e aerodynamic r e f e r e n c e p o i n t a l o n g t h e y body a x i s from

t h e v e h i c l e c e n t e r of g r a v i t y

DELZ d i s p l a c e m e n t of t h e aerodynamic r e f e r e n c e p o i n t a l o n g t h e z body a x i s from

t h e v e h i c l e c e n t e r of g r a v i t y

DES l o n g i t u d i n a l t r i m parameter

9
DR S d i r e c t i o n a l t r i m parameter

DXTHRS d i s t a n c e between t h e c e n t e r of g r a v i t y of t h e e n g i n e a n d t h e
thrust point

EIX r o t a t i o n a l i n e r t i a of t h e e n g i n e

ENGOMG r o t a t i o n a l v e l o c i t y of t h e e n g i n e

GMA f lightpath angle

H altitude

HDOT t i m e rate of change of a l t i t u d e

NUMSAT number of s t a t e s i n t h e s t a t e v e c t o r

NUMSRF number of r e c o g n i z a b l e c o n t r o l names

P r o l l rate

PDOT t i m e rate of change of r o l l r a t e

PHI r o l l angle

PHIDOT t i m e r a t e of change of r o l l a n g l e

PSI heading angle

PSIDOT t i m e r a t e of change of h e a d i n g a n g l e

Q p i t c h rate

QBAR dynamic p r e s s u r e

QDm t i m e r a t e of change of p i t c h r a t e

R yaw r a t e

RDOT t i m e r a t e of change of yaw r a t e

S wing area

T time

TDOT t i m e r a t e of change of t i m e

THA p i t c h angle

THADOT t i m e r a t e of change of p i t c h a n g l e

THRSTX t h r u s t t r i m parameter

THRUST t h r u s t g e n e r a t e d by e a c h e n g i n e

10
b TLOCAT l o c a t i o n of t h e e n g i n e i n t h e x , y , a n d z a x e s from t h e c e n t e r of g r a v i t y

TVANXY o r i e n t a t i o n of t h e t h r u s t v e c t o r i n t h e x-y e n g i n e a x i s p l a n e

TVANXZ o r i e n t a t i o n of t h e t h r u s t v e c t o r i n t h e x-z engine a x i s plane

UB v e l o c i t y a l o n g t h e x body a x i s

V velocity

VB v e l o c i t y a l o n g t h e y body a x i s

VCAS c a l i b r a t e d airspeed

VDOT t i m e r a t e of change of t o t a l v e h i c l e v e l o c i t y

VEAS equivalent airspeed

WB v e l o c i t y a l o n g t h e z body a x i s

X p o s i t i o n n o r t h from a n a r b i t r a r y r e f e r e n c e p o i n t
1
XDOT t i m e r a t e of change of n o r t h - s o u t h p o s i t i o n

XYANGL o r i e n t a t i o n of t h r u s t v e c t o r i n x-y body a x i s p l a n e

XZANGL o r i e n t a t i o n of t h r u s t v e c t o r i n x-z body a x i s p l a n e

Y p o s i t i o n e a s t f r o m an a r b i t r a r y r e f e r e n c e p o i n t

YDOT t i m e r a t e of change of east-west p o s i t i o n

PROGRAM OVERVIEW

The program LINEAR n u m e r i c a l l y d e t e r m i n e s a l i n e a r s y s t e m m o d e l u s i n g n o n l i n e a r

e q u a t i o n s of motion and a u s e r - s u p p l i e d n o n l i n e a r aerodynamic model. LINEAR i s a l s o
c a p a b l e of e x t r a c t i n g l i n e a r i z e d g r o s s e n g i n e e f f e c t s , s u c h as n e t t h r u s t , t o r q u e ,
a n d g y r o s c o p i c e f f e c t s a n d i n c l u d i n g t h e s e e f f e c t s i n t h e l i n e a r s y s t e m model. The
p o i n t a t which t h i s l i n e a r s y s t e m model i s d e f i n e d i s d e t e r m i n e d e i t h e r by s p e c i f y i n g
t h e s t a t e and c o n t r o l v a r i a b l e s o r by s e l e c t i n g a n a n a l y s i s p o i n t on a t r a j e c t o r y ,
s e l e c t i n g a t r i m o p t i o n , a n d a l l o w i n g t h e program t o d e t e r m i n e t h e c o n t r o l v a r i a b l e s
a n d r e m a i n i n g s t a t e v a r i a b l e s t o s a t i s f y t h e t r i m o p t i o n selected.

Because t h e program is d e s i g n e d t o s a t i s f y t h e n e e d s of a b r o a d class of u s e r s ,

’ a w i d e v a r i e t y of o p t i o n s h a s been p r o v i d e d . P e r h a p s t h e most i m p o r t a n t of t h e s e
o p t i o n s are t h o s e t h a t a l l o w u s e r s p e c i f i c a t i o n of t h e s t a t e , c o n t r o l , a n d obser-
v a t i o n v a r i a b l e s t o be i n c l u d e d i n t h e l i n e a r model d e r i v e d by LINEAR.

W i t h i n t h e program, t h e n o n l i n e a r e q u a t i o n s of motion i n c l u d e 12 s t a t e s r e p r e -
s e n t i n g a r i g i d a i r c r a f t f l y i n g i n a s t a t i o n a r y atmosphere o v e r a f l a t , n o n r o t a t i n g
e a r t h . Thus, i n t e r n a l l y , t h e s t a t e v e c t o r x i s computed as

x = [ p q r V a f3 4 8 J, h x ylT

11
 The nonlinear equations used to determine the derivatives of the states are pre-
sented in the following section. The internal control vector u can contain up to
30 controls. The internal observation vector y contains 120 variables including the
state variables, the time derivatives of the state variables, the control variables,
and a variety of other parameters of interest. Thus, within the program,

where

y3 = [ y fpa
.
y
-.
h C/57.3lT

Y4 = [Es PSIT

Y5 = [L D N A]'

and

The equations defining these quantities are presented in the Observation Equations
section.

From the internal formulation of the Output model Internal

parameters parameters
state, control, and observation variables,
L

the user must select the specific vari-

ables desired in the output linear model
(described in the Selection of State, Con-
trol, and Observation Variables section).
Internally, the program uses a 12-state
vector, 120-variable observation vector,
and a 30-parameter control vector. These
variables can be selected to specify the
formulation most suited for the specific Specification of
application. The order and number of state vector
for linear model
parameters in the output model are com-
pletely under user control. Figure 1 F i g u r e 1 . S e l e c t i o n of s t a t e v a r i -
shows the selection of the variables in a b l e s for l i n e a r model.
the state vector for a requested linear
model. From the internal formulation on

12
 t h e r i g h t , t h e r e q u e s t e d model is c o n s t r u c t e d , and t h e l i n e a r s y s t e m matrices a r e
s e l e c t e d i n a c c o r d a n c e w i t h t h e u s e r s p e c i f i c a t i o n of t h e s t a t e , c o n t r o l , and o b s e r -
vation variables.

The l i n e a r model d e r i v e d by LINEAR i s d e t e r m i n e d a t a n a n a l y s i s p o i n t . LINEAR

a l l o w s t h i s a n a l y s i s p o i n t t o be d e f i n e d as a t r u e s t e a d y - s t a t e c o n d i t i o n on a spec-
i f i e d t r a j e c t o r y ( a p o i n t a t which t h e r o t a t i o n a l and t r a n s l a t i o n a l a c c e l e r a t i o n s
a r e z e r o ) o r a t o t a l l y a r b i t r a r y s t a t e on a t r a j e c t o r y . The program LINEAR p r o v i d e s
t h e user with s e v e r a l options described i n d e t a i l i n t h e Analysis Point Definition
s e c t i o n of t h i s r e p o r t . These a n a l y s i s p o i n t d e f i n i t i o n o p t i o n s a l l o w t h e u s e r t o
t r i m t h e a i r c r a f t i n wings-level f l i g h t , pushovers, p u l l u p s , l e v e l t u r n s , o r zero-
s i d e s l i p maneuvers. A l s o i n c l u d e d is a nontrimming o p t i o n i n which t h e u s e r d e f i n e s
a t o t a l l y a r b i t r a r y c o n d i t i o n a b o u t which t h e l i n e a r model i s t o be d e r i v e d .

The l i n e a r s y s t e m matrices are d e t e r m i n e d by n u m e r i c a l p e r t u r b a t i o n and a r e t h e

f i r s t - o r d e r t e r m s of a T a y l o r series e x p a n s i o n a b o u t t h e a n a l y s i s p o i n t as d e s c r i b e d
i n t h e L i n e a r Models s e c t i o n . The f o r m u l a t i o n of t h e o u t p u t s y s t e m model i s u n d e r
user control. The u s e r can s e l e c t s t a t e e q u a t i o n matrices c o r r e s p o n d i n g t o e i t h e r
t h e s t a n d a r d f o r m u l a t i o n of t h e s t a t e e q u a t i o n

0
x=Ax+Bu
1

o r t h e generalized equation

Cx = A'x + B'u

The o b s e r v a t i o n matrices can be s e l e c t e d from e i t h e r of t w o f o r m u l a t i o n s

corresponding to t h e standard equation

y = Hx + Fu

or t h e g e n e r a l i z e d e q u a t i o n

y = H'x + Gx + Flu

I n a d d i t i o n t o t h e l i n e a r s y s t e m matrices, LINEAR a l s o computes t h e nondimen-

s i o n a l s t a b i l i t y and c o n t r o l d e r i v a t i v e s a t t h e a n a l y s i s p o i n t . These d e r i v a t i v e s
a r e d i s c u s s e d i n t h e Aerodynamic Model s e c t i o n .

A i r c r a f t geometry and mass p r o p e r t i e s and a n a l y s i s p o i n t d e f i n i t i o n are i n p u t

i n t e r a c t i v e l y t o t h e program o r a r e r e a d from A S C I I f i l e s of 8 0 - c h a r a c t e r r e c o r d s
s p e c i f i e d by t h e u s e r . The s t a t e , c o n t r o l , a n d o b s e r v a t i o n v e c t o r s are a l s o de-
f i n e d i n e i t h e r manner. The d e t a i l s of d a t a i n p u t a r e d i s c u s s e d i n t h e Data In-
put section.

The o u t p u t of L I N E A R c o n s i s t s of t h e f o l l o w i n g f o u r f i l e s : one i s i n t e n d e d t o
b e u s e d w i t h follow-on d e s i g n and a n a l y s i s programs, two document t h e o p t i o n s and
a n a l y s i s p o i n t s s e l e c t e d by t h e u s e r , a n d one c o n t a i n s s t a b i l i t y a n d c o n t r o l d e r i v a -
t i v e s extracted a t the analysis point. The f i r s t of t h e s e f i l e s c o n t a i n s t h e s t a t e ,
c o n t r o l , and o b s e r v a t i o n v e c t o r name l i s t s a n d v a l u e s , and t h e s t a t e space s y s t e m
matrices. The s e c o n d f i l e c o n t a i n s a l l of t h e t r i m i n f o r m a t i o n , t h e c o n t r o l , s t a t e ,

13
and observation values, the trim control input positions, and the nondimensional
stability and control derivative data. It will also contain the output of the
equations of motion if the program fails to attain a trimmed condition. The third
file contains all of the information in the second file plus the state space system
model matrices. The fourth file contains the stability and control derivatives
extracted at the analysis point in a form suitable to be read back into LINEAR as
a linear aerodynamic model.

To execute LINEAR, five user-supplied subroutines are required. These routines,

discussed in the User-Supplied Subroutines section, define the nonlinear aerodynamic
model, the g r o s s engine model, the gearing between the LINEAR trim inputs and the
surfaces modeled in the aerodynamic model, and a model of the mass and geometry
properties of the aircraft. The control model, shown in figure 2, defines how the
LINEAR trim inputs will be connected to the surface models and allows schedules and
nonstandard trimming schemes to be used. The last feature is particularly important
for asymmetrical aircraft.

Inputs from outputs to

KTPARMl lCONTRLl

DES
DAS UCNTRL
(Gearing)
THRSTX
DC(30)

(Pilot stick, pedal, (Surface deflections

and throttle) and power level setting)

Figure 2. Inputs and outputs to the

user-supplied subroutine UCNTRL.

EQUATIONS OF MOTION

The nonlinear equations of motion used in the linearization program are general
six-degree-of-freedom equations representing the flight dynamics of a rigid aircraft
flying in a stationary atmosphere over a flat nonrotating earth. The assumption of
nonzero forward motion also is included in these equations. Because of this assump-
tion, these equations are invalid for vertical takeoff and landing or hover. These
equations contain no assumptions of either symmetric mass distribution or aerody-
namic properties and are applicable to asymmetric aircraft (such as oblique-wing
aircraft) as well as to conventional symmetric aircraft. These equations of motion
were derived by Etkin ( 1 9 7 2 ) , and the derivation is detailed in the NASA Reference
Publication, "Derivation and Definition of a Linear Aircraft Model," by Eugene L.
Duke, Robert F. Antoniewicz, and Keith D. Krambeer.

The following equations for rotational acceleration are used for analysis point
definition:

14
1
I = [(cL)I~+ ( ~ 4 1 +
1 ~( ~ ~ 1 1 3P~(I,,I~ - - 1 ~ ~ 1 ~ )
I
+ pq(IxzIl - Iyz12 - D,13) - pr(IxyI1 + Dy12 - Iyz13)

+ q2 ( 1 ~ ~ 1- 1Ixy13) - qr(D,I1 - Ixy12 + Ix213)

- rZ(IyzI1 - Ix,12)l/det I

4= + ( ~ 4 1 +1 ~( C N I I ~ P~(I,,I~
[(CLII~ - - 1 ~ ~ 1 ~ )
I

+ pq(Ix,12 - Iyz14 - D2I5 - pr(Ixy12 + Dy14 - IY Z I5

+ q2(1~,12 - -
1 ~ ~ 1 5 )qr(Dx12 - + 1 ~ ~ 1 ~ )

- r2(Iyz12 - Ix,14)l/det I

= [ ( C L I I+~ ( ~ ~ 1 1
+ 5( ~ ~ 1 p2(
11,,1
~5 - - 1 ~ ~ 1 ~ )

+ pq(1,,13 - 1 ~ ~ 1 5 -
D,I~) - pr(1,~1~ + ~ ~ -11 ~5 ~ 1 6 )
+ q2 (Iyz13 - Ixy16) - qr(Dx13 - Ixy15 + Ix216)

- r2(~yz13 - 1,,1~)l/det I

where

det I = IxIyIz - 21xyIx,Iyz - Ix12yz - Iy12xz - I,12xy I

I1 = IyI, - 12yz

I2 = IxyIz + IyzIxz

I3 = IxyIyz + IyIxz

14 = I,I, - 12~,

I5 = IxIyz + IxyIxz

= I,I~ - 1ZXy

D, = I, - Iy

Dy = I, - I,

D, = Iy - I,

Here, the body axis rates are designated p, q, and r, corresponding to roll rate,
pitch rate, and yaw rate. The total moments about the x, y , and z body axes are
designated CL, EM, and EN, respectively. These total moments are the sums of all

15
 aerodynamic moments a n d p o w e r p l a n t - i n d u c e d moments due t o t h r u s t a s y m m e t r i e s a n d
gyroscopic torques. The e q u a t i o n s u s e d t o d e t e r m i n e t h e change i n moment c o e f -
f i c i e n t s due t o t h e n o n c o i n c i d e n c e of t h e v e h i c l e c e n t e r of g r a v i t y a n d t h e refer-
e n c e p o i n t of t h e n o n l i n e a r a e r o d y n a m i c model a r e d e r i v e d i n a p p e n d i x A. The equa-
t i o n s d e f i n i n g t h e e n g i n e t o r q u e a n d g y r o s c o p i c c o n t r i b u t i o n s t o t h e t o t a l moments
a r e d e r i v e d i n a p p e n d i x B. The body a x i s moments of i n e r t i a are d e s i g n a t e d I,, I y r
a n d I,. The p r o d u c t s o f i n e r t i a a r e d e s i g n a t e d Ixy, Ixz, a n d I T h e s e moments

-:I
YZ
a n d p r o d u c t s of i n e r t i a a r e e l e m e n t s of t h e i n e r t i a t e n s o r I , d e f i n e d as

I X -1xy -1XZ

I = [-Ixy Iy

-1xz -1yz

T o d e r i v e t h e s t a t e e q u a t i o n matrices f o r t h e g e n e r a l i z e d f o r m u l a t i o n

.
Cx = Ax + Bu

t h e r o t a t i o n a l a c c e l e r a t i o n s are cast i n a decoupled-axes f o r m u l a t i o n . The equa-

t i o n s used t o d e r i v e t h e l i n e a r i z e d m a t r i c e s are

-1xy

IY

---
-1XZ

- I,

-CM- rp
IX
- + rq
2 1x2
' P I - + pr -
I,
IY IY IY IY

I
The t r a n s l a t i o n a l a c c e l e r a t i o n e q u a t i o n s u s e d i n t h e program LINEAR f o r both
a n a l y s i s p o i n t d e f i n i t i o n a n d p e r t u r b a t i o n are

i = [-D cos + Y s i n 0 + XT cos a cos B + YT s i n B + ZT s i n a c o s B

I - m g ( s i n 0 cos a cos 0 - cos 0 s i n Q s i n

- cos 0 cos Q s i n a c o s @ ) ] / m

16
 A = [-L + zT cos a - xT s i n a + mg(cos 8 COS Q COS a

+ sin 8 sin a)l/vm COS B

+ q - t a n 6 ( p c o s a + r s i n a)

= [D s i n B + Y cos - xT cos a s i n B + yT c o s 6 - zT sin a sin 0

+ m g ( s i n 8 cos a s i n f3 + cos 8 s i n $J cos B

- c o s 8 cos I$ s i n a s i n f 3 ) l / v m

+ p sin a - r cos a

The e q u a t i o n s u s e d t o d e f i n e t h e v e h i c l e a t t i t u d e rates a r e

i= p + q sin Q tan 8 + r cos (P t a n 0

0
8 = q cos Q - r sin Q

6= q s i n Q sec 8 + r c o s Q sec 8

The e q u a t i o n s u s e d t o d e f i n e t h e e a r t h - r e l a t i v e v e l o c i t i e s are

= cos 0 cos a s i n 8 - s i n 0 s i n Q cos 8 - cos B s i n a cos Q cos 01

G = cos 4 c o s a c o s 0 c o s J, + s i n ( s i n Q s i n 8 c o s J, - c o s Q s i n J,)

+ cos s i n a (cos 4 s i n 8 cos J, + s i n Q s i n $11

.
y = V[cos B c o s a c o s 8 s i n J, + sin B (sin Q sin 8 sin J, + c o s Q c o s $1
+ COS s i n a (cos Q s i n 8 s i n JI - sin Q COS $11

OBSERVATION EQUATIONS

The u s e r - s e l e c t a b l e o b s e r v a t i o n v a r i a b l e s computed i n L I N E A R r e p r e s e n t a b r o a d
c l a s s of p a r a m e t e r s u s e f u l f o r v e h i c l e a n a l y s i s and c o n t r o l d e s i g n problems. These
v a r i a b l e s i n c l u d e t h e s t a t e , t i m e d e r i v a t i v e s of s t a t e , and c o n t r o l v a r i a b l e s . A l s o
i n c l u d e d are a i r d a t a p a r a m e t e r s , a c c e l e r a t i o n s , f l i g h t p a t h terms, and o t h e r miscel-
l a n e o u s parameters. The e q u a t i o n s u s e d t o c a l c u l a t e t h o s e parameters a r e d e r i v e d
from a number of s o u r c e s ( C l a n c y , 1975; Dommasch and o t h e r s , 1967; E t k i n , 1972;
G a i n e r and Hoffman, 1972; Gracey, 1 9 8 0 ) . I m p l i c i t i n many of t h e s e o b s e r v a t i o n
e q u a t i o n s is an a t m o s p h e r i c model. The model i n c l u d e d i n LINEAR i s d e r i v e d from
t h e U.S. S t a n d a r d Atmosphere ( 1 9 6 2 ) .

The v e h i c l e body a x i s a c c e l e r a t i o n s c o n s t i t u t e t h e s e t of o b s e r v a t i o n v a r i a b l e s
t h a t , e x c e p t f o r s t a t e v a r i a b l e s t h e m s e l v e s , are most commonly u s e d i n t h e a i r c r a f t
c o n t r o l a n a l y s i s and d e s i g n problem. These a c c e l e r a t i o n s are measured i n g u n i t s

17
 a n d are d e r i v e d d i r e c t l y from t h e body a x i s f o r c e s d e f i n e d i n t h e p r e v i o u s s e c t i o n
f o r translational acceleration. The body a x i s a c c e l e r a t i o n e q u a t i o n s u s e d i n LINEAR
are

a, = (xT - D cos a + L sin a - gm s i n 8)/gom

ay = ( y T + Y + gm cos 8 s i n Q)/gom

a, = (zT - D sin a - L cos a + gm c o s 8 c o s Q)/gom

The e q u a t i o n s f o r body a x i s a c c e l e r o m e t e r s t h a t a r e a t v e h i c l e c e n t e r of g r a v i t y
are

= (zT - D sin a - L cos a)/gom

anZ

an = (-zT + D sin a + L COS a)/gom

F o r o r t h o g o n a l a c c e l e r o m e t e r s t h a t are a l i g n e d w i t h t h e v e h i c l e body a x e s b u t are

n o t a t v e h i c l e c e n t e r of g r a v i t y , t h e f o l l o w i n g e q u a t i o n s a p p l y :

where t h e s u b s c r i p t s x, y , a n d z r e f e r t o t h e x, y, a n d z body a x e s , r e s p e c t i v e l y ,
a n d t h e symbols x, y , and z r e f e r t o t h e x , y , a n d z body a x i s l o c a t i o n s of t h e sen-
sors r e l a t i v e t o t h e v e h i c l e c e n t e r of g r a v i t y . The symbol go i s t h e a c c e l e r a t i o n
due t o g r a v i t y a t sea l e v e l . A l s o i n c l u d e d i n t h e s e t of a c c e l e r a t i o n parameters
i s t h e l o a d f a c t o r n = L/W, where L i s t h e t o t a l aerodynamic l i f t a n d W i s t h e
v e h i c l e weight.

The a i r data p a r a m e t e r s h a v i n g t h e g r e a t e s t a p p l i c a t i o n t o a i r c r a f t dynamics a n d

c o n t r o l problems are t h e s e n s e d p a r a m e t e r s and t h e r e f e r e n c e and s c a l i n g parameters.
The s e n s e d p a r a m e t e r s are impact p r e s s u r e qc, a m b i e n t o r f r e e - s t r e a m p r e s s u r e pa,
t o t a l p r e s s u r e pt, a m b i e n t o r f r e e - s t r e a m t e m p e r a t u r e T, and t o t a l t e m p e r a t u r e Tt.
-
The s e l e c t e d r e f e r e n c e a n d s c a l i n g parameters are Mach number M, dynamic p r e s s u r e q,
s p e e d of sound a, Reynolds number R e , Reynolds number per u n i t l e n g t h R e ' , and t h e
Mach meter c a l i b r a t i o n r a t i o qc/pa. These q u a n t i t i e s are d e f i n e d as

18
 3.5
- 1.O1Pa (M < 1.0)

(1.0 + 0.2M2) 3*5 - 1.0 (M < 1.0)

1. 2M2 (M > 1.0)

5.6M2 - 0.8

+ qc

T t = T(1.0 + 0.2M2)
where p i s t h e d e n s i t y of t h e a i r , P i s t h e c o e f f i c i e n t o f v i s c o s i t y , a n d t h e sub-
s c r i p t 0 r e f e r s t o sea l e v e l , s t a n d a r d day c o n d i t i o n s . F r e e - s t r e a m p r e s s u r e , f r e e -
stream t e m p e r a t u r e , a n d t h e c o e f f i c i e n t of v i s c o s i t y are d e r i v e d f r o m t h e U . S . Stand-
ard Atmosphere ( 1 9 6 2 ) .

A l s o i n c l u d e d i n t h e a i r d a t a c a l c u l a t i o n s are t w o velocities: equivalent a i r -

speed Ve a n d c a l i b r a t e d a i r s p e e d Vc, b o t h computed i n k n o t s . The c a l c u l a t i o n s a s s u m e
t h a t i n t e r n a l u n i t s a r e i n t h e E n g l i s h s y s t e m . The e q u a t i o n u s e d f o r e q u i v a l e n t a i r -
speed is

which i s d e r i v e d from t h e d e f i n i t i o n of e q u i v a l e n t a i r s p e e d ,

ve = E
where Po = 0.002378 s l u g / f t 3 a n d v, i s c o n v e r t e d from f e e t per s e c o n d t o k n o t s . Cal-
i b r a t e d airspeed is d e r i v e d f r o m t h e f o l l o w i n g d e f i n i t i o n of impact p r e s s u r e :

19
 = 1.2(vc)z 5.76
a,
- P, (V, 2 a,)
qC
5.6 - 0.8 (aofl,)

F o r t h e case where Vc 6 a,, t h e e q u a t i o n f o r Vc i s

vc = 1479.116 d m - 1.0 (v, G a,)

C a l i b r a t e d a i r s p e e d i s f o u n d u s i n g a n i t e r a t i v e process f o r t h e case where Vc 2 a,.

The e q u a t i o n

Vc = 582.95174 dz + loo) [ 1 O 0 - 7.0 ("c a,)

i s e x e c u t e d u n t i l t h e c h a n g e i n Vc from o n e i t e r a t i o n t o t h e n e x t is less t h a n
0.001 knots.

Also i n c l u d e d i n t h e o b s e r v a t i o n v a r i a b l e s are t h e f l i g h t p a t h - r e l a t e d parameters

( d e s c r i b e d i n app. C ) , i n c l u d i n g f l i g h t p a t h a n g l e y, f l i g h t p a t h a c c e l e r a t i o n f p a ,
..
v e r t i c a l a c c e l e r a t i o n h, f l i g h t p a t h a n g l e r a t e ;, a n d ( f o r l a c k of a b e t t e r c a t e g o r y
i n which t o place i t ) scaled a l t i t u d e r a t e 1;/57.3. The e q u a t i o n s u s e d t o d e t e r m i n e
t h e s e q u a n t i t i e s are

fpa = -
V
90
..
h = a, sin 0 - ay s i n 4 cos 0 - a, c o s + cos 0
..
Y =
V h -s
v v n
Two e n e r g y - r e l a t e d terms a r e i n c l u d e d i n t h e o b s e r v a t i o n v a r i a b l e s : specific
e n e r g y E,, and s p e c i f i c power Ps, d e f i n e d as

20
 The s e t of o b s e r v a t i o n v a r i a b l e s a v a i l a b l e i n LINEAR a l s o i n c l u d e s f o u r f o r c e
parameters: t o t a l aerodynamic l i f t L, t o t a l aerodynamic d r a g D, t o t a l aerodynamic
normal f o r c e N , and t o t a l aerodynamic a x i a l f o r c e A. These q u a n t i t i e s a r e d e f i n e d a s

D = GSC,

N = L cos a + D sin a

A = -L s i n a + D cos a

where CD a n d cL a r e c o e f f i c i e n t s of d r a g and l i f t , r e s p e c t i v e l y .

S i x body a x i s rates and a c c e l e r a t i o n s a r e a v a i l a b l e as o b s e r v a t i o n v a r i a b l e s .

These i n c l u d e t h e x body a x i s r a t e u, t h e y body a x i s r a t e v, and t h e z body a x i s
r a t e w.
. .
A l s o i n c l u d e d a r e t h e t i m e d e r i v a t i v e s of t h e s e q u a n t i t i e s , u, v, and w.
.
The e q u a t i o n s d e f i n i n g t h e s e q u a n t i t i e s are

u = v cos a cos B

v = V sin B
w = v s i n a cos B

- gm s i n 8 - D cos a + L sin a
m
+ rv - qw

+ gm c o s 8 s i n 4 + Y
m
+ pw - ru

+ gm cos 8 c o s +- D sin a - -)
L cos a
+ qu - pv
m

The f i n a l set of o b s e r v a t i o n v a r i a b l e s a v a i l a b l e i n LINEAR i s a m i s c e l l a n e o u s

c o l l e c t i o n of o t h e r p a r a m e t e r s of i n t e r e s t i n a n a l y s i s and d e s i g n problems. The
f i r s t group c o n s i s t s of measurements from s e n s o r s n o t l o c a t e d a t t h e v e h i c l e c e n t e r
of g r a v i t y .
.
These r e p r e s e n t a n g l e of a t t a c k a , i , a n g l e of s i d e s l i p @,i, altitude
h , i r a n d a l t i t u d e r a t e h , i measurements d i s p l a c e d from t h e c e n t e r of g r a v i t y by some
x , y, and z body a x i s d i s t a n c e s . The e q u a t i o n s u s e d t o compute t h e s e q u a n t i t i e s are

h,i = h + x sin 8 - y sin + cos 8 - z cos + cos 8

21
 ili = C + 6 ( x cos e + y sin q sin e + z cos Q) s i n 01

- .
+ ( y c o s $I cos 8 - z s i n $I cos e)
The r e m a i n i n g m i s c e l l a n e o u s parameters a r e t o t a l a n g u l a r momentum T, s t a b i l i t y a x i s
r o l l r a t e ps, s t a b i l i t y a x i s p i t c h r a t e qs, a n d s t a b i l i t y a x i s yaw r a t e rs, d e f i n e d
as

ps = p cos a + r sin a

qs = 9

rs = -p sin a + r COS a

SELECTION OF STHTE, CONTROL, AND OBSERVATION VARIABLES

The e q u a t i o n s i n t h e t w o p r e c e d i n g s e c t i o n s d e f i n e t h e s t a t e a n d o b s e r v a t i o n
v a r i a b l e s a v a i l a b l e i n LINEAR. The c o n t r o l v a r i a b l e s are d e f i n e d by t h e u s e r i n t h e
input f i l e . I n t e r n a l l y , t h e program u s e s a 1 2 - s t a t e model, a 1 2 0 - v a r i a b l e obser-
vation vector, and a 30-parameter c o n t r o l v e c t o r . T h e s e v a r i a b l e s c a n be selected
t o s p e c i f y t h e f o r m u l a t i o n m o s t s u i t e d f o r t h e s p e c i f i c a p p l i c a t i o n . The o r d e r a n d
number of parameters i n t h e o u t p u t model a r e c o m p l e t e l y u n d e r u s e r c o n t r o l . Figure 1
shows t h e s e l e c t i o n of v a r i a b l e s f o r t h e s t a t e v e c t o r of t h e o u t p u t model. However,
it s h o u l d be n o t e d t h a t no model o r d e r r e d u c t i o n i s a t t e m p t e d . E l e m e n t s of t h e
matrices i n t h e i n t e r n a l f o r m u l a t i o n are s i m p l y s e l e c t e d a n d reordered i n t h e f o r -
m u l a t i o n s p e c i f i e d by t h e u s e r .

S p e c i f i c s t a t e , c o n t r o l , a n d o b s e r v a t i o n v a r i a b l e s f o r t h e f o r m u l a t i o n of t h e
o u t p u t matrices are s e l e c t e d by a l p h a n u m e r i c d e s c r i p t o r s i n t h e i n p u t f i l e . The u s e
of t h e s e a l p h a n u m e r i c descriptors i s described i n t h e Data I n p u t s e c t i o n . Appendix C
lists t h e o b s e r v a t i o n variables and t h e i r alphanumeric d e s c r i p t o r s . Appendix D l i s t s
t h e s t a t e v a r i a b l e s a n d t h e i r a l p h a n u m e r i c descriptors. The a l p h a n u m e r i c d e s c r i p t o r s
f o r t h e s e l e c t i o n of c o n t r o l parameters t o be i n c l u d e d i n t h e o b s e r v a t i o n v e c t o r are
t h e c o n t r o l v a r i a b l e names d e f i n e d by t h e u s e r i n t h e i n p u t f i l e , as described i n t h e
Input Files section.

L I N E A R MODELS

The l i n e a r i z e d s y s t e m matrices computed by LINEAR a r e t h e f i r s t - o r d e r terms of

a T a y l o r s e r i e s e x p a n s i o n a b o u t t h e a n a l y s i s p o i n t (Dieudonne, 1978; Kwakernaak a n d
S i v a n , 1972; NASA RP by Duke, A n t o n i e w i c z , a n d Krambeer) a n d are assumed t o r e s u l t i n
a t i m e - i n v a r i a n t l i n e a r system. The v a l i d i t y of t h i s a s s u m p t i o n i s d i s c u s s e d i n t h e

22
 t
1 Analysis Point Definition section. The t e c h n i q u e u s e d t o o b t a i n t h e s e matrices
n u m e r i c a l l y i s a simple a p p r o x i m a t i o n t o t h e p a r t i a l d e r i v a t i v e , t h a t i s ,

where f is a g e n e r a l f u n c t i o n of x, a n a r b i t r a r y i n d e p e n d e n t v a r i a b l e . The Luc may be

s e t by t h e u s e r , b u t d e f a u l t s t o 0 . 0 0 1 f o r a l l s t a t e a n d c o n t r o l parameters, w i t h t h e
1 s i n g l e e x c e p t i o n o f v e l o c i t y V I where Ax i s m u l t i p l i e d by a, t h e s p e e d of sound, t o
obtain a reasonable perturbation s i z e .

From t h e g e n e r a l i z e d n o n l i n e a r s t a t e e q u a t i o n

.
TX = f ( X r
.
X, U)

and t h e observation equation

I
t h e program d e t e r m i n e s t h e l i n e a r i z e d matrices f o r t h e g e n e r a l i z e d f o r m u l a t i o n of t h e
system:

C 6; = A' 6x + B' 6u

6y = H' 6x + G 6;; + F' 6u

where

23
I
with all derivatives evaluated along the nominal trajectory defined by the analysis
point ( x o , go, u o ) . The state, time derivative of state, and control vectors can be
expressed as small perturbations about the nominal trajectory, so that

x = xo + 6x

u = uo + 6u

In addition to the matrices for this generalized system, the user has the option
of requesting linearized matrices for a standard formulation of the system:

6; = A 6x + B 6u

6y = H 6x + F 6u

where

with all derivatives evaluated along the nominal trajectory defined by the analysis
point (xo, io,u o ) -
LINEAR also provides two nonstandard matrices, D and E , in the equations

;= Ax + Bu + Dv

y = Hx + Fu + Ev

or D' and E' in the equations

0
Cx = A ' x + B'u + D'v

y = H'x
.
+ Gx + F'u + E'v

24
I
’ These dynamic interaction matrices include the effect of external forces and moments
acting on the vehicle. The components of the dynamic interaction vector v are incre-
mental body axis forces and moments:

1 Thus,

These matrices allow the effects of unusual subsystems or control effectors to be

easily included in the vehicle dynamics.

The default output matrices for LINEAR are those for the standard system for-
mulation. However, the user can select matrices for either generalized or standard
state and observation equations in any combination. Internally, the matrices are
, computed for the generalized system formulation and then combined appropriately to
I accommodate the system formulation requested by the user.

ANALYSIS POINT DEFINITION

The point at which the nonlinear system equations are linearized is referred to
as the analysis point. This can represent a true steady-state condition on the spec-

I ified trajectory (a point at which the rotational and translational accelerations are
zero; Perkins and Hage, 1949; Thelander, 1965) or a totally arbitrary state on a tra-
I jectory. LINEAR allows the user to Select from a variety of analysis points. These
I analysis points are referred to as trim conditions, and several options are available
, to the user. The arbitrary state and control option is designated NOTRIM, and in
selecting this option the user must specify all nonzero state and control variables.
For the equilibrium conditions, the user specifies a minimum number of parameters,
and the program numerically determines required state and control variables to force

25
 the rotational and translational accelerations to zero. The analysis point options
are described in detail in the following subsections.

For all the analysis point definition options, any state or control parameter
may be input by the user. Those state variables not required to define the analysis
point are used as initial estimates for the calculation of the state and control
conditions that result in zero rotational and translational accelerations. As each
state variable is read into LINEAR, the name is compared to the list of alternative
state variable names listed in appendix D. All state variables except velocity
must be specified according to this list. Velocity can also be defined by specify-
ing Mach number (see alternative observation variable names in appendix C). Appen-
dix E lists analysis point definition identifiers that are recognized by LINEAR.

It should be noted that the option of allowing the user to linearize the system
equations about a nonequilibrium condition raises theoretical issues (beyond the
scope of this report) the potential user should be aware of. Although all the anal-
ysis point definition options provided in LINEAR have been found to be useful in
the analysis of vehicle dynamics, not all the linear models derived about these anal-
ysis points result in the time-invariant systems assumed in this report. However,
the results of the linearization provided by LINEAR do give the appearance of being
time invariant.

The linearization process as defined in this report is always valid for some time
interval beyond the point in the trajectory about which the linearization is done.
However, for the resultant system to be truly time invariant, the vehicle must be in

.
a sustainable, steady-state flight condition. This requirement is something more
than merely a trim requirement, which is typically represented as x(t) = 0, indi-
cating that for trim, all the time derivatives of the state variables must be zero.
(This is not the case, however: Trim is achieved when the acceleration-like terms

. ..... .
are identically zero; no constraints need to be placed on the velocity-like terms in
x. Thus, for the model used in LINEAR, only p, q, r, V, a, and f3 must be zero to
satisfy the trim condition.) The trim condition is achieved for the straight-and-
level, pushover-pullup, level turn, thrust-stabilized turn, and beta trim options
described in the following sections. In general, the untrimmed and specific power
analysis point definition options do not result in a trim condition.

Of these analysis point options resulting in a trim condition, only the straight-
and-level and level turn options force the model to represent sustainable flight con-
ditions. In fact, only in the special case where the flightpath angle is zero does a
truly sustainable trim occur.

As previously stated, the linearization of a nonlinear model and its represen-

tation as a time-invariant system are always valid for some time interval beyond the
analysis point on the trajectory. This time interval is determined by several fac-
tors (such as trim and sustainable flight conditions) and ultimately by accuracy
requirements placed on the representation. Thus, in using the linear models provided
by this program, the user should exercise some caution.

Untrimmed

For the untrimmed analysis point, the user specifies all state and control var-
iables that are to be set at some value other than zero. The number of state var-

26
i a b l e s specified is e n t i r e l y a t t h e u s e r ' s discretion. I f any of t h e c o n t r o l v a r -
i a b l e s a r e t o be n o n z e r o , t h e u s e r must s p e c i f y t h e c o n t r o l p a r a m e t e r and i t s v a l u e .
The untrimmed o p t i o n a l l o w s t h e u s e r t o a n a l y z e t h e v e h i c l e dynamics a t any f l i g h t
condition, including t r a n s i t o r y conditions.

Straight-and-Level Trim

The s t r a i g h t - a n d - l e v e l a n a l y s i s p o i n t s a v a i l a b l e i n LINEAR are i n f a c t wings-

level, constant-flightpath-angle t r i m s . Both o p t i o n s a v a i l a b l e f o r s t r a i g h t - a n d -
l e v e l t r i m allow t h e u s e r t o s p e c i f y e i t h e r a f l i g h t p a t h a n g l e o r a n a l t i t u d e r a t e .
However, s i n c e t h e d e f a u l t v a l u e f o r t h e s e t e r m s i s z e r o , t h e d e f a u l t f o r b o t h t y p e s
of s t r a i g h t - a n d - l e v e l t r i m i s w i n g s - l e v e l , h o r i z o n t a l f l i g h t .

The two o p t i o n s a v a i l a b l e f o r s t r a i g h t - a n d - l e v e l t r i m r e q u i r e t h e u s e r t o s p e c i f y
a l t i t u d e a n d e i t h e r a n a n g l e of a t t a c k o r a Mach number. I f a s p e c i f i c a n g l e of
a t t a c k a n d a l t i t u d e c o m b i n a t i o n is d e s i r e d , t h e u s e r selects t h e "Mach-trim" o p t i o n ,
which d e t e r m i n e s t h e v e l o c i t y r e q u i r e d f o r t h e r e q u e s t e d t r a j e c t o r y . Likewise, t h e
" a l p h a - t r i m " o p t i o n a l l o w s t h e u s e r t o s p e c i f y Mach number and a l t i t u d e , and t h e t r i m
r o u t i n e s i n L I N E A R d e t e r m i n e t h e a n g l e of a t t a c k needed f o r t h e r e q u e s t e d t r a j e c t o r y .

The t r i m c o n d i t i o n f o r b o t h s t r a i g h t - a n d - l e v e l options i s determined within t h e

following constraints:

@ = O

The t r i m s u r f a c e p o s i t i o n s , t h r u s t , a n g l e of s i d e s l i p , a n d e i t h e r v e l o c i t y o r a n g l e
of a t t a c k are d e t e r m i n e d by n u m e r i c a l l y s o l v i n g t h e n o n l i n e a r e q u a t i o n s f o r t h e
t r a n s l a t i o n a l and r o t a t i o n a l a c c e l e r a t i o n . P i t c h a t t i t u d e 8 i s d e t e r m i n e d by itera-
t i v e s o l u t i o n of t h e a l t i t u d e r a t e e q u a t i o n .

Pushover-Pullup

The p u s h o v e r - p u l l u p a n a l y s i s p o i n t s r e s u l t i n wings-level f l i g h t a t n f 1. For

n > 1, t h e a n a l y s i s p o i n t is t h e m i n i m u m a l t i t u d e p o i n t of a p u l l u p when A = 0. For
n < 1, t h i s t r i m r e s u l t s i n a p u s h o v e r a t t h e maximum a l t i t u d e w i t h = 0. There
are t w o o p t i o n s a v a i l a b l e f o r t h e pushover-pullup a n a l y s i s p o i n t d e f i n i t i o n : (1) the
" a l p h a - t r i m " o p t i o n i n which a n g l e of a t t a c k is d e t e r m i n e d from t h e s p e c i f i e d a l t i -
t u d e , Mach number, and l o a d f a c t o r , a n d ( 2 ) t h e " l o a d - f a c t o r - t r i m " o p t i o n i n which
a n g l e of a t t a c k , a l t i t u d e , and Mach number a r e s p e c i f i e d , a n d l o a d f a c t o r i s d e t e r -
mined a c c o r d i n g t o t h e c o n s t r a i n t e q u a t i o n s .

The a n a l y s i s p o i n t i s d e t e r m i n e d a t t h e s p e c i f i e d c o n d i t i o n s , s u b j e c t t o t h e f o l -
lowing c o n t r a i n t s :

p = r = O

@ = O
27
 .
The e x p r e s s i o n f o r q i s d e r i v e d from t h e a e q u a t i o n by s e t t i n g a = 0 and
0

4 = 0; 0 is
d e r i v e d from t h e A e q u a t i o n . The t r i m s u r f a c e p o s i t i o n s , t h r u s t , a n g l e of s i d e s l i p ,
a n d e i t h e r a n g l e o f a t t a c k or load f a c t o r a r e d e t e r m i n e d by n u m e r i c a l l y s o l v i n g t h e
n o n l i n e a r equations f o r t h e t r a n s l a t i o n a l and r o t a t i o n a l a c c e l e r a t i o n s .

Level Turn

The l e v e l t u r n a n a l y s i s p o i n t d e f i n i t i o n o p t i o n s r e s u l t i n n o n w i n g s - l e v e l ,
c o n s t a n t - t u r n - r a t e f l i g h t a t load f a c t o r s g r e a t e r t h a n one. The v e h i c l e model i s
assumed t o have s u f f i c i e n t e x c e s s t h r u s t t o t r i m a t t h e c o n d i t i o n s p e c i f i e d . If
t h r u s t i s n o t s u f f i c i e n t , t r i m w i l l n o t r e s u l t , and t h e a n a l y s i s p o i n t t h u s d e f i n e d
w i l l have a n o n z e r o ( i n f a c t , n e g a t i v e ) v e l o c i t y r a t e .

The l e v e l t r i m o p t i o n s a v a i l a b l e i n L I N E A R r e q u i r e t h e s p e c i f i c a t i o n of a n a l t i -
t u d e a n d a Mach number. The u s e r c a n t h e n u s e e i t h e r a n g l e of a t t a c k o r load f a c t o r
t o define t h e desired f l i g h t condition. T h e s e t w o o p t i o n s are r e f e r r e d t o as “ a l p h a -
t r i m ” a n d “ l o a d - f a c t o r - t r i m , ’‘ r e s p e c t i v e l y . F o r e i t h e r o p t i o n , t h e u s e r may a l s o
r e q u e s t a s p e c i f i c f l i g h t p a t h a n g l e o r a l t i t u d e rate. Thus, t h e s e a n a l y s i s p o i n t
d e f i n i t i o n s may r e s u l t in a s c e n d i n g o r d e s c e n d i n g s p i r a l s , a l t h o u g h t h e d e f a u l t i s
€or t h e c o n s t a n t - a l t i t u d e t u r n .

The c o n s t r a i n t e q u a t i o n s f o r t h e c o o r d i n a t e d l e v e l t u r n a n a l y s i s p o i n t d e f i n i -
t i o n s are d e r i v e d by Chen (19811, a n d Chen a n d J e s k e ( 1 9 8 1 ) . U s i n g t h e r e q u e s t e d
load f a c t o r , t h e tilt a n g l e o f a c c e l e r a t i o n normal t o t h e f l i g h t p a t h f r o m t h e v e r -
t i c a l p l a n e 01, is c a l c u l a t e d u s i n g t h e e q u a t i o n

where t h e p o s i t i v e s i g n i s u s e d f o r a r i g h t t u r n a n d t h e n e g a t i v e s i g n i s u s e d f o r a
l e f t turn. From $L, t u r n rate c a n be c a l c u l a t e d as

U s i n g t h e s e t w o d e f i n i t i o n s , t h e s t a t e v a r i a b l e s c a n be d e t e r m i n e d :
c

p = p S cos a - rs s i n a

r = p
S
sin a + rs cos a

28
 The trim surface positions, thrust, angle of sideslip, and either angle of attack or
load factor are determined by numerically solving the nonlinear equations for the
translational and rotational accelerations.

Thrust-Stabilized Turn

The thrust-stabilized turn analysis point definition results in a constant throt-

tle nonwings-level turn with a nonzero altitude rate. The two options available in
LINEAR are "alpha-trim" and "load-factor-trim.'I These options allow the user to spe-
cify either the angle of attack or the load factor for the analysis point. The alti-
tude and Mach number at the analysis point must be specified for both options. The
user also must specify the value of the thrust trim parameter by assigning a value to
the variable THRSTX in the input file after the trim has been selected.

The constraint equations for the thrust-stabilized turn are the same as those for
, the level turn. However, for this analysis point definition, flightpath angle is
determined by L I N E A R .

Beta Trim

.
The beta trim analysis point definition results in nonwings-level, horizontal
flight with the heading rate i;l equal to zero at a user-specified Mach number, alti-
tude, and angle of sideslip. This trim option is nominally at 1 g, but as 6 and $I
vary from zero, normal acceleration decreases and lateral acceleration increases.
For an aerodynamically symmetric aircraft, a trim to 6 = 0 using the beta trim option
results in the same trimmed condition as the straight-and-level trim. However, for
t an aerodynamically asymmetric aircraft, such as an oblique-wing vehicle, the two trim
options are not equivalent.

The constraint equations used with the beta trim option are

The trim surface positions, thrust, angle of attack, and bank angle are determined by I
numerically solving the nonlinear equations for translational and rotational acceler-
ation. Pitch attitude 8 is derived from the equation f o r flightpath angle y with
y = 0 and is defined as
I
I

e = tan"
sin sin $ + COS B sin ci
cos B cos a

Specific Power
I
The specific power analysis point definition results in a level turn at a user-
specified Mach number, altitude, thrust trim parameter, and specific power. Unlike

29
 t h e o t h e r t r i m o p t i o n s p r o v i d e d i n LINEAR, t h e s p e c i f i c power o p t i o n does n o t , i n
g e n e r a l , attempt t o a c h i e v e t h e z e r o v e l o c i t y r a t e <. I n f a c t , because t h e a l t i t u d e
rate = 0 a n d s p e c i f i c power a r e d e f i n e d by

P , =
- w
h + -
.
9

t h e r e s u l t a n t v e l o c i t y r a t e w i l l be
I

v = -PS9
V

l e .
However, t h e o t h e r a c c e l e r a t i o n - l i k e terms ( p , q, r , a, and
. .
8) w i l l be z e r o i f t h e
, r e q u e s t e d a n a l y s i s p o i n t is a c h i e v e d .

The c o n s t r a i n t e q u a t i o n s u s e d w i t h t h e s p e c i f i c power a n a l y s i s p o i n t d e f i n i t i o n
o p t i o n c a n be d e r i v e d f r o m t h e load f a c t o r tilt a n g l e e q u a t i o n u s e d i n t h e l e v e l t u r n
a n a l y s i s p o i n t d e f i n i t i o n w i t h y = 0:

( w h e r e t h e p o s i t i v e s i g n i s u s e d for a r i g h t t u r n a n d t h e n e g a t i v e s i g n i s u s e d f o r a
l e f t turn),

.
q = JI s i n +L cos 6

ps = -q t a n 6

p = ps cos LI - rs s i n a

r = ps sin a + rs cos a

o = sin-’(- f)

The a n a l y s i s p o i n t s u r f a c e p o s i t i o n s , load f a c t o r , a n g l e of a t t a c k , a n d a n g l e of
s i d e s l i p a r e d e t e r m i n e d by numerically s o l v i n g t h e n o n l i n e a r e q u a t i o n s f o r t r a n s l a -
t i o n a l and r o t a t i o n a l a c c e l e r a t i o n .

30
 NONDIMENSIONAL STABILITY AND CONTROL DERIVATIVES

I The nondimensional stability and control derivatives computed by LINEAR from the
nonlinear aerodynamic model assume broadly formulated linear aerodynamic equations.
These equations include effects of what are normally considered exclusively lateral-
directional parameters in the longitudinal force and moment coefficient equations,
and, conversely, effects of longitudinal parameters in the lateral-directional equa-
tions. The reason for this is two-fold: application to a larger class of vehicle
1 types, such as oblique-wing aircraft, and computational ease.

I The nondimensional stability and control derivatives assume the following equa-
1
tions for the aerodynamic force and moment coefficients:

n
cL = CLo + CLaa + CLBB + CLh 6h + CLv 6V + 1 CL 6i
i=1 6i

31
 n

A + cyq4 + cy,; .
+ Cy's + cyp
+ CYPP a

where the stability and control derivatives have the usual meaning,

with C, being an arbitrary force or moment coefficient and x an arbitrary nondimen-

sional variable. The rotational terms in the equations are nondimensional versions
of the corresponding state variable with

The 6i in the summations are the n control variables defined by the user. The
effects of altitude and velocity are included in the derivatives with respect to
those parameters and in the incremental multipliers

where the subscript zero represents the current analysis point ( x o , Xo, u0),
described in the Analysis Point Definition section.

~ l stability
l derivatives are computed as nondimensional terms except the alti-
tude and velocity parameters. The units of the control derivatives correspond to the
units used in the nonlinear aerodynamic model. LINEAR is capable of handling both
Mach and velocity derivatives. Using the equation

(where ah is the speed of sound at the reference altitude), LINEAR will compute the
Mach derivatives from the velocity derivatives or vice versa. Internally, however,

32
L I N E A R u s e s v e l o c i t y d e r i v a t i v e s i n t h e c o m p u t a t i o n s of t h e t o t a l f o r c e and moment
c o e f f i c i e n t s . D e r i v a t i v e s w i t h respect t o a n g l e of a t t a c k and a n g l e of s i d e s l i p c a n
b e o b t a i n e d i n u n i t s of r e c i p r o c a l d e g r e e s . These d e r i v a t i v e s are s i m p l y t h e c o r -
r e s p o n d i n g nondimensional d e r i v a t i v e s m u l t i p l i e d by 180/n.

DATA INPUT

The i n t e r a c t i v e l i n e a r i z e r a l l o w s t h e u s e r t o i n p u t data i n v a r i o u s manners:

1. A l l i n p u t d a t a c a n be l o a d e d from a s i n g l e f i l e ( e i t h e r a f i l e a s s i g n e d t o
l o g i c a l u n i t 1 o r any f i l e named w i t h 10 c h a r a c t e r s o r l e s s ) ;

2. Data c a n be s e p a r a t e d o n t o d i f f e r e n t f i l e s , e a c h c o n t a i n i n g d i f f e r e n t sec-
t i o n s of data;

3. D a t a can be t y p e d i n from t h e t e r m i n a l ; or

4. A c o m b i n a t i o n of ( 2 ) and ( 3 ) .

Input F i l e s

The i n t e r a c t i v e L I N E A R i n p u t f i l e ( d e f i n e d i n t a b l e 1 ) is s e p a r a t e d i n t o s i x
major s e c t i o n s : v e h i c l e t i t l e i n f o r m a t i o n ; geometry and mass data f o r t h e a i r c r a f t ;
s t a t e , c o n t r o l , and o b s e r v a t i o n v a r i a b l e d e f i n i t i o n s f o r t h e state-space model; t h e
t r i m p a r a m e t e r s p e c i f i c a t i o n ; a d d i t i o n a l c o n t r o l s u r f a c e s t h a t may be s p e c i f i e d f o r
e a c h case; and v a r i o u s t e s t case s p e c i f i c a t i o n s . A l l t h e i n p u t d a t a c a n be w r i t t e n
o n one f i l e o r v a r i o u s f i l e s a c c o r d i n g t o t h e d i v i s i o n s s p e c i f i e d a t t h e b e g i n n i n g of
t h i s p a r a g r a p h and a c c o r d i n g t o t h e i n p u t f o r m a t d e f i n e d i n t a b l e 1. An example
i n p u t f i l e is l i s t e d i n a p p e n d i x F. A l l t h e i n p u t r e c o r d s t o LINEAR are w r i t t e n i n
A S C I I form.

T i t l e Information

T h e r e is one t i t l e r e c o r d t h a t n e e d s t o b e s p e c i f i e d f o r i n t e r a c t i v e LINEAR: the

name of t h e s p e c i f i c v e h i c l e . T h i s r e c o r d is r e a d w i t h a 20A4 f o r m a t . The v e h i c l e
t i t l e a p p e a r s on e a c h page of t h e l i n e p r i n t e r o u t p u t f i l e .

Geometry and Mass D a t a

The geometry and mass d a t a c o n s i s t of f o u r r e c o r d s t h a t e i t h e r c a n f o l l o w t h e

v e h i c l e t i t l e , e x i s t as a f i l e on i t s own, o r be i n p u t i n t e r a c t i v e l y from t h e ter-
minal. I f it i s i n p u t from t h e t e r m i n a l , t h e n it w i l l be s t o r e d e i t h e r on t h e s a m e
f i l e as t h e v e h i c l e t i t l e , or on a separate f i l e . The geometry and m a s s d a t a r e c o r d s
d e f i n e t h e geometry, mass p r o p e r t i e s , l o c a t i o n of t h e aerodynamic r e f e r e n c e p o i n t
w i t h respect t o t h e c e n t e r of g r a v i t y , and a n g l e - o f - a t t a c k r a n g e f o r t h e v e h i c l e
model b e i n g a n a l y z e d .

33
 TABLE 1. - INPUT FORMAT FOR LINEAR

Input record Format

~~

VEHICLE TITLE (20A4)

S b
-C Weight (4F13.0 )
IX Iy Iz Ixz (6F13.0)
IXY IYZ
DELX DELY DELZ LOGCG (3F10.0,12A4)
%in %ax (2F13.0 )
NUMSAT EQUAT STAB (110,A4,11X,A4)
STATE 1 DRVINC 1 (5A4,FlO.O)
STATE 2 DRVINC 2 (5A4,FlO.O)
STATE 3 DRVINC 3 (5A4,FlO.O)

NUMSUR (110)
CONTROL 1 LOCCNT 1 CONVR 1 CNTINC 1 (5A4,110,A4,6X,F10.0)
CONTROL 2 LOCCNT 2 CONVR 2 CNTINC 2 (5A4,110,A4,6X,FlO.O)
CONTROL 3 LOCCNT 3 CONVR 3 CNTINC 3 (5A4,110,A4,6X,FlO.O)

NUMWC EQUAT (I10,A4)

MEASUREMENT 1 PARAM 1 (1-3) (5A4,3F10.0)
MEASUREMENT 2 PARAM 2 (1-3) ( 5A4,3F 1 0.0 )
MEASUREMENT 3 PARAM 3 (1-3) (5A4,3F10.0)

'emin 'emax 'amin 'amax 'rmin 'rmax 'thmin 'thmax (8F10 0 )

NUMXSR (1X,I2)
ADDITIONAL SURFACE 1 LOCCNT 1 CONVR1 (5A4,110,A4)
ADDITIONAL SURFACE 2 LOCCNT 2 CONVR2 (5A4,110,A4)
ADDITIONAL SURFACE 3 LOCCNT 3 CONVR3 (5A4,110,A4)

ANALYSIS POINT DEFINITION OPTION (20A4)

ANALYSIS POINT DEFINITION SUBOPTION (A41
VARIABLE 1 VALUE 1 (5A4,F15.5)
VARIABLE 2 VALUE 2 (5A4,F15.5)
VARIABLE 3 VALUE 3 (5A4,F15.5 )

34
 TABLE 1. - Concluded

I n p u t record Format

NEXT (A41
ANALYSIS POINT DEFINITION OPTION (20A4)
ANALYSIS P O I N T D E F I N I T I O N SUBOPT I O N (A41
VARIABLE 1 VALUE 1 ( 5 A 4 , F 15.5 )
VARIABLE 2 VALUE 2 (5A4,F15.5)
VARIABLE 3 VALUE 3 (5A4,F15.5)

END (A41

35
 The f i r s t a n d s e c o n d r e c o r d s d e s c r i b e t h e v e h i c l e geometry, mass, a n d mass d i s -
t r i b u t i o n . The f i r s t record d e f i n e s t h e wing p l a n f o r m area S i n u n i t s of f e e t
s q u a r e d ; t h e wingspan b i n u n i t s of f e e t ; t h e mean aerodynamic c h o r d of t h e wing c
i n u n i t s of f e e t ; a n d t h e sea l e v e l w e i g h t o f t h e v e h i c l e Weight, i n units of pounds.
The s e c o n d record d e f i n e s t h e v e h i c l e moments a n d p r o d u c t s of i n e r t i a i n u n i t s of
s l u g - f e e t s q u a r e d . The t h i r d record d e f i n e s t h e o f f s e t of t h e a e r o d y n a m i c r e f e r e n c e
p o i n t w i t h respect t o t h e v e h i c l e c e n t e r o f g r a v i t y i n t h e normal r i g h t - h a n d e d body
a x i s r e f e r e n c e system w i t h t h e p o s i t i v e x a x i s forward. The format o f t h e data c a n
be s e e n i n t a b l e 1 w i t h DELX, DELY, a n d DELZ r e p r e s e n t i n g t h e x, y , a n d z body a x i s
d i s p l a c e m e n t s of t h e aerodynamic r e f e r e n c e p o i n t w i t h respect t o t h e c e n t e r o f g r a -
v i t y i n u n i t s of f e e t ( s e e app. A ) . The f o u r t h v a r i a b l e o f t h e t h i r d r e c o r d is a n
a l p h a n u m e r i c v a r i a b l e , read u s i n g a 12A4 f o r m a t , t o s p e c i f y i f c o r r e c t i o n s due t o a
c e n t e r - o f - g r a v i t y o f f s e t are t o be computed i n LINEAR or i n t h e u s e r - s u p p l i e d a e r o d y -
namic s u b r o u t i n e CCALC. The v a r i a b l e LOGCG d e f a u l t s t o a s t a t e t h a t c a u s e s t h e aero-
dynamic r e f e r e n c e p o i n t o f f s e t c a l c u l a t i o n s t o be p e r f o r m e d by s u b r o u t i n e s w i t h i n
LINEAR. Any of t h e f o l l o w i n g s t a t e m e n t s i n t h e LOGCG f i e l d w i l l c a u s e LINEAR n o t t o
make t h e s e c o r r e c t i o n s :

NO CG CORRECTIONS BY LINEAR

CCALC WILL CALCULATE CG CORRECTIONS

FORCE AND MOMENT CORRECTIONS CALCULATED I N CCALC

However, LINEAR w i l l read o n l y t h e f i r s t f o u r c h a r a c t e r s o f t h e s t r i n g .

The f i n a l record of t h i s geometry and mass data set d e f i n e s t h e a n g l e - o f - a t t a c k

r a n g e f o r which t h e u s e r - s u p p l i e d n o n l i n e a r aerodynamic model (CCALC) i s v a l i d . The
parameters % i n a n d %ax s p e c i f y t h e minimum a n d maximum v a l u e s o f a n g l e of a t t a c k t o
be u s e d f o r t r i m m i n g t h e a i r c r a f t model. T h e s e parameters a r e i n u n i t s of d e g r e e s .

S t a t e , Control, and Observation Variable Definitions

The s t a t e , c o n t r o l , a n d o b s e r v a t i o n v a r i a b l e s t o be u s e d i n t h e o u t p u t formula-
t i o n of t h e l i n e a r i z e d s y s t e m a r e d e f i n e d i n records t h a t e i t h e r f o l l o w t h e l a s t of
t h e p r e v i o u s l y d e s c r i b e d sets o f records on t h e same f i l e , are stored on a separate
f i l e , o r are i n p u t t h r o u g h t h e t e r m i n a l . I f they are i n p u t through t h e terminal,
t h e y w i l l b e stored i n a f i l e s p e c i f i e d by t h e u s e r . The number of records i n t h e
s t a t e , c o n t r o l , a n d o b s e r v a t i o n v a r i a b l e d e f i n i t i o n s e t i s d e t e r m i n e d by t h e number
of s u c h v a r i a b l e s d e f i n e d by t h e u s e r .

The s t a t e s t o be u s e d i n t h e o u t p u t f o r m u l a t i o n of t h e l i n e a r i z e d s y s t e m are
d e f i n e d i n t h e f i r s t set of r e c o r d s i n t h e s t a t e , c o n t r o l , a n d o b s e r v a t i o n v a r i a b l e
definitions. The f i r s t record of t h i s s e t , as shown i n t a b l e 1, d e f i n e s t h e number
of s t a t e s t o be u s e d ( N U M S A T ) , t h e f o r m u l a t i o n o f t h e s t a t e e q u a t i o n (EQUAT), a n d
w h e t h e r t h e n o n d i m e n s i o n a l s t a b i l i t y d e r i v a t i v e s w i t h respect t o a n g l e of a t t a c k a n d
a n g l e o f s i d e s l i p a r e t o be o u t p u t i n u n i t s o f reciprocal r a d i a n s or d e g r e e s . The
v a r i a b l e EQUAT i s read u s i n g a n A4 f o r m a t a n d i s t e s t e d a g a i n s t t h e f o l l o w i n g l i s t :

36
t

NONSTANDARD
NON-STANDARD
GENERALIZED
EXTENDED

I f EQUAT m a t c h e s t h e f i r s t f o u r c h a r a c t e r s of a n y of t h e l i s t e d words, t h e o u t p u t
f o r m u l a t i o n of t h e s t a t e e q u a t i o n i s

.
Cx = A ' x + B'u

I f EQUAT i s read i n a s STANDARD or d o e s n o t match t h e p r e c e d i n g l i s t , t h e n t h e de-

I
f a u l t s t a n d a r d b i l i n e a r f o r m u l a t i o n o f t h e s t a t e e q u a t i o n i s assumed, a n d t h e o u t -
p u t matrices a r e c o n s i s t e n t w i t h t h e e q u a t i o n
.
x = Ax + Bu

The v a r i a b l e STAB i s a l s o r e a d u s i n g a n A4 format a n d i s compared w i t h t h e f o l l o w i n g

list:

DEGREES
DGR

I f STAB m a t c h e s t h e f i r s t f o u r c h a r a c t e r s of e i t h e r o f t h e s e words, t h e nondimen-

s i o n a l s t a b i l i t y d e r i v a t i v e s w i t h respect t o a n g l e o f a t t a c k a n d a n g l e of s i d e s l i p
a r e p r i n t e d i n u n i t s of reciprocal d e g r e e s on t h e p r i n t e r f i l e . O t h e r w i s e , t h e s e
d e r i v a t i v e s a r e p r i n t e d i n u n i t s o f reciprocal r a d i a n s .

The r e m a i n i n g records of t h e s t a t e v a r i a b l e d e f i n i t i o n s e t are u s e d t o s p e c i f y

t h e s t a t e v a r i a b l e s t o be u s e d i n t h e o u t p u t f o r m u l a t i o n of t h e l i n e a r i z e d s y s t e m a n d
t h e i n c r e m e n t s t o be u s e d f o r t h e n u m e r i c a l p e r t u r b a t i o n described i n t h e L i n e a r
Models s e c t i o n . The s t a t e v a r i a b l e names a r e c h e c k e d f o r v a l i d i t y a g a i n s t t h e s t a t e
v a r i a b l e a l p h a n u m e r i c d e s c r i p t o r s l i s t e d i n a p p e n d i x D. I f a name is n o t r e c o g n i z e d ,
t h e v a r i a b l e i s i g n o r e d a n d a w a r n i n g message i s w r i t t e n t o t h e p r i n t e r f i l e . The
i n c r e m e n t t o be u s e d w i t h a n y s t a t e v a r i a b l e ( i n c a l c u l a t i n g t h e A' and H' m a t r i c e s )
and t h e t i m e d e r i v a t i v e of t h a t s t a t e v a r i a b l e ( i n c a l c u l a t i n g t h e C and G matrices)
c a n be s p e c i f i e d u s i n g t h e DRVINC v a r i a b l e . The DRVINC s p e c i f i e d f o r v e l o c i t y w i l l
be m u l t i p l i e d by t h e speed of sound w i t h i n L I N E A R i n order t o s c a l e up t h e p e r t u r -
b a t i o n s i z e t o a r e a s o n a b l e v a l u e w h i l e k e e p i n g D R V I N C o n t h e s a m e order o f m a g n i t u d e
a s f o r t h e o t h e r states. If DRVINC i s n o t s p e c i f i e d by t h e u s e r , t h e d e f a u l t v a l u e
o f 0.001 i s used.

The n e x t s e t of records i n t h e s t a t e , c o n t r o l , a n d o b s e r v a t i o n v a r i a b l e d e f i n i -
t i o n s a r e t h o s e d e f i n i n g t h e v a r i a b l e s t o be u s e d i n t h e c o n t r o l v e c t o r of t h e o u t p u t
model. The f i r s t record of t h i s s e t d e f i n e s t h e number of c o n t r o l parameters t o be
u s e d (NUMSUR). The r e m a i n i n g records d e f i n e t h e names of t h e s e v a r i a b l e s (CONTROL),
t h e i r l o c a t i o n (LOCCNT) i n t h e common b l o c k /CONTRL/ ( s e e t h e U s e r - S u p p l i e d Sub-
r o u t i n e s s e c t i o n ) , t h e u n i t s a s s o c i a t e d w i t h t h e s e c o n t r o l v a r i a b l e s (CONVR), a n d
t h e i n c r e m e n t s (CNTINC) t o be u s e d w i t h t h e s e v a r i a b l e s i n d e t e r m i n i n g t h e B ' a n d
F ' matrices.

B e c a u s e LINEAR h a s no d e f a u l t c o n t r o l v a r i a b l e names, t h e c o n t r o l v a r i a b l e names

i n p u t by t h e u s e r a r e u s e d f o r s u b s e q u e n t i d e n t i f i c a t i o n of t h e c o n t r o l v a r i a b l e s .
T h e r e f o r e , c o n s i s t e n c y i n t h e u s e of c o n t r o l v a r i a b l e names is e x t r e m e l y i m p o r t a n t ,

37
 p a r t i c u l a r l y when t h e u s e r attempts t o e s t a b l i s h c o n t r o l v a r i a b l e i n i t i a l c o n d i t i o n s
when u s i n g t h e untrimmed a n a l y s i s p o i n t d e f i n i t i o n o p t i o n .

The CONVR f i e l d i n t h e c o n t r o l v a r i a b l e records i s u s e d t o s p e c i f y i f t h e c o n t r o l

v a r i a b l e s a r e g i v e n i n d e g r e e s or r a d i a n s . CONVR i s read u s i n g a n A4 f o r m a t a n d i s
compared t o t h e f o l l o w i n g l i s t :

DEGREES
DGR
RAD I ANS
RAD

I f CONVR a g r e e s w i t h t h e f i r s t f o u r c h a r a c t e r s o f e i t h e r o f t h e f i r s t t w o names, it
i s assumed t h a t t h e c o n t r o l v a r i a b l e i s s p e c i f i e d i n u n i t s o f d e g r e e s . I f CONVR
a g r e e s w i t h t h e f i r s t f o u r c h a r a c t e r s o f e i t h e r of t h e l a s t two l i s t e d names, it i s
assumed t h a t t h e c o n t r o l v a r i a b l e is s p e c i f i e d i n u n i t s of r a d i a n s . N o u n i t s are
assumed i f CONVR d o e s n o t a g r e e w i t h any o f t h e l i s t e d names. When it i s assumed
t h a t t h e c o n t r o l v a r i a b l e i s s p e c i f i e d i n u n i t s o f r a d i a n s , t h e i n i t i a l v a l u e of t h e
control variable is converted t o degrees before being written t o t h e p r i n t e r f i l e .

The variable CNTINC c a n be u s e d t o s p e c i f y t h e i n c r e m e n t s u s e d f o r a p a r t i c u l a r

c o n t r o l s u r f a c e when t h e B' a n d F' matrices are b e i n g c a l c u l a t e d . I t i s assumed that
t h e u n i t s o f CNTINC a g r e e w i t h t h o s e u s e d f o r t h e surface, and no u n i t c o n v e r s i o n i s
attempted on t h e s e i n c r e m e n t s . If CNTINC i s n o t s p e c i f i e d f o r a p a r t i c u l a r s u r f a c e ,
a d e f a u l t v a l u e o f 0.001 i s u s e d .

The f i n a l s e t o f records i n t h e s t a t e , c o n t r o l , a n d o b s e r v a t i o n v a r i a b l e d e f i n i -
t i o n s p e r t a i n t o t h e s p e c i f i c a t i o n of parameters associated w i t h t h e o b s e r v a t i o n vec-
t o r , o b s e r v a t i o n e q u a t i o n , a n d o b s e r v a t i o n parameters. The f i r s t record of t h i s set
d e f i n e s t h e number o f o b s e r v a t i o n v a r i a b l e s ( N U M W C ) t o be u s e d i n t h e o u t p u t l i n e a r
model a n d t h e f o r m u l a t i o n of t h e o u t p u t e q u a t i o n (EQUAT). The r e m a i n i n g r e c o r d s i n
t h i s s e t s p e c i f y t h e v a r i a b l e s t o be i n c l u d e d i n t h e o b s e r v a t i o n v e c t o r (MEASUREMENT)
a n d any p o s i t i o n i n f o r m a t i o n (PARAM) t h a t may be r e q u i r e d t o compute t h e o u t p u t model
f o r a s e n s o r n o t located a t t h e v e h i c l e c e n t e r of g r a v i t y .

The v a r i a b l e u s e d t o s p e c i f y t h e f o r m u l a t i o n of t h e o b s e r v a t i o n e q u a t i o n (EQUAT)
i s compared w i t h t h e same l i s t o f names u s e d t o d e t e r m i n e t h e f o r m u l a t i o n of t h e
state equation. I f it i s d e t e r m i n e d t h a t t h e g e n e r a l i z e d f o r m u l a t i o n i s desired, t h e
observation equation

y = H'x + Gx
.+ F'u

i s u s e d . O t h e r w i s e , t h e s t a n d a r d f o r m u l a t i o n i s assumed, a n d t h e f o r m of t h e obser-
v a t i o n equation used is

y = Hx + Fu

The records d e f i n i n g t h e o b s e r v a t i o n v a r i a b l e s t o be u s e d i n t h e o u t p u t formu-

l a t i o n o f t h e l i n e a r model c o n t a i n a v a r i a b l e t h a t i n c l u d e s t h e parameter name
(MEASUREMENT) and t h r e e f i e l d s (PARAM) d e f i n i n g , when appropriate, t h e l o c a t i o n of
t h e s e n s o r r e l a t i v e t o t h e v e h i c l e c e n t e r of g r a v i t y . The parameter name is com-
p a r e d w i t h t h e l i s t of o b s e r v a t i o n v a r i a b l e s g i v e n i n a p p e n d i x D. I f t h e parameter
name i s r e c o g n i z e d a s a v a l i d o b s e r v a t i o n v a r i a b l e name, t h a t o b s e r v a t i o n v a r i a b l e is

38
1
I
included in the formulation of the output observation vector. If the parameter name
is not recognized, an error message is printed and the parameter named is ignored.
The three variables represented by PARAM(1), PARAM(2), and PARAM(3) provide the x-
axis, y-axis, and z-axis locations, respectively, of the measurement with respect to
the vehicle center of gravity if the selected observation is one of the following:

ax,i

an,i

h,i

The unit associated with these variables is feet. If the selected observation var-
iable is not in the preceding list, the PARAM variables are not used. The sole
exception to this occurs when Reynolds number is requested as an observation vari-
able. In that case, PARAM(1) is used to specify the characteristic length. When no
value is input for PARAM(11, the mean aerodynamic chord c is used as the character-
istic length.

Trim Parameter Specification

There is one record in the trim parameter specification set that is associated
with the subroutine UCNTRL (described in the User-Supplied Subroutines section).
This record specifies the limits to be used for the trim parameters fie, tia, fir,and
6thr representing the longitudinal, lateral, directional, and thrust trim parameters,
respectively. The units associated with these parameters are defined by the imple-
mentation of UCNTRL.

Additional Surface Specification

The first record of the set of additional surface specifications defines the
number of additional controls to be included in the list of recognized control names
(NUMXSR). The purpose of defining these additional controls is to allow the user
to set such variables as landing gear position, wing sweep, or flap position. The
controls are only defined in the additional surface specification records; actual
control positions are defined in the analysis point definition records. If such
controls are defined, the records defining them will have the format specified in
table 1. The control variable name (ADDITIONAL SURFACE), location (LOCCNT) in the
common block /CONTRG/, and the units associated with this control variable (CONVR)
are specified for each additional control.

39
 T e s t Case Specification

The t e s t case s p e c i f i c a t i o n records a l l o w t h e u s e r t o d e f i n e t h e f l i g h t c o n d i -

t i o n , o r a n a l y s i s p o i n t , a t which a l i n e a r model i s t o be d e r i v e d . M u l t i p l e cases
c a n be i n c l u d e d i n t h e t e s t case s p e c i f i c a t i o n records. The f i n a l record i n e a c h s e t
d i r e c t s t h e program t o p r o c e e d (NEXT) o r t o s t o p ( E N D ) e x e c u t i o n .

The f i r s t record of a t e s t case s p e c i f i c a t i o n set d e t e r m i n e s t h e a n a l y s i s p o i n t ,

o r t r i m , o p t i o n t o be u s e d f o r t h e c u r r e n t case. The ANALYSIS POINT DEFINITION
OPTION parameter i s read i n a n d c h e c k e d a g a i n s t t h e l i s t o f a n a l y s i s p o i n t d e f i n i -
t i o n i d e n t i f i e r s d e s c r i b e d i n a p p e n d i x E. The s e c o n d r e c o r d o f a t e s t case s p e c i f i -
c a t i o n s e t , d e f i n i n g an a n a l y s i s p o i n t d e f i n i t i o n s u b o p t i o n ( A N A L Y S I S P O I N T D E F I N -
ITION SUBOPTION), w i l l be read o n l y i f t h e r e q u e s t e d a n a l y s i s p o i n t d e f i n i t i o n o p t i o n
h a s a s u b o p t i o n associated w i t h it. T h e s e s u b o p t i o n s a r e d e f i n e d i n t h e A n a l y s i s
P o i n t D e f i n i t i o n s e c t i o n . The v a l i d a l p h a n u m e r i c d e s c r i p t o r s f o r t h e s e s u b o p t i o n s
a r e d e s c r i b e d i n a p p e n d i x E.

The r e m a i n i n g records i n a t e s t case s p e c i f i c a t i o n set d e f i n e t e s t c o n d i t i o n s o r

i n i t i a l c o n d i t i o n s f o r t h e trimming s u b r o u t i n e s . T h e s e r e c o r d s c o n s i s t of a f i e l d
d e f i n i n g a parameter name ( V A R I A B L E ) a n d i t s i n i t i a l c o n d i t i o n (VALUE). These
records may be i n any order; however, i f i n i t i a l Mach number i s t o be d e f i n e d , t h e
a l t i t u d e must be s p e c i f i e d b e f o r e Mach number i f t h e c o r r e c t i n i t i a l v e l o c i t y i s t o
be d e t e r m i n e d . The parameter names are c h e c k e d a g a i n s t a l l name l i s t s u s e d w i t h i n
LINEAR. Any r e c o g n i z e d s t a t e , t i m e d e r i v a t i v e of s t a t e , c o n t r o l , or o b s e r v a t i o n v a r -
i a b l e w i l l be a c c e p t e d . Trim parameters a l s o c a n be s e t i n t h e s e records.

I n g e n e r a l , s e t t i n g o b s e r v a t i o n v a r i a b l e s a n d t i m e d e r i v a t i v e s of t h e s t a t e v a r i -
a b l e s h a s l i t t l e e f f e c t . However, f o r some o f t h e t r i m o p t i o n s d e f i n e d i n t h e Anal-
y s i s P o i n t D e f i n i t i o n s e c t i o n , Mach number a n d l o a d f a c t o r are used. The t h r u s t t r i m
parameter o n l y a f f e c t s t h e s p e c i f i c power t r i m . F o r t h e untrimmed o p t i o n , t h e
i n i t i a l v a l u e s of t h e s t a t e a n d c o n t r o l v a r i a b l e s d e t e r m i n e t h e a n a l y s i s p o i n t com-
pletely. F o r a l l o t h e r t r i m o p t i o n s , o n l y c e r t a i n s t a t e s are n o t varied; a l l con-
t r o l s c o n n e c t e d t o t h e c o n t r o l a n d e n g i n e models a r e v a r i e d .

I n t e r a c t i v e D a t a Input

Upon s t a r t i n g program e x e c u t i o n , L I N E A R w i l l a s k t h e u s e r :

WHAT I S THE TITLE O F THE CASE BEING RUN?

The u s e r s h o u l d answer w i t h some m e a n i n g f u l t i t l e f o l l o w e d by a c a r r i a g e r e t u r n .

This t i t l e , along with t h e vehicle t i t l e discussed later, w i l l i d e n t i f y t h i s inter-
a c t i v e s e s s i o n on a l l of t h e o u t p u t data f i l e s .

The program w i l l t h e n d i s p l a y t h e f o l l o w i n g menu:

PROGRAM LINEAR READS ALL INPUT DATA FROM 1

UNLESS A DIFFERENT FILE NAME I S S P E C I F I E D .

1) ALL INPUT DATA I S ON 1

2) DATA I S ON ONE OTHER F I L E

40
 3) DATA I S ON VARIOUS FILES

4) INPUT DATA FROM A F I L E ( S ) AND

FROM THE TERMINAL

5) INPUT ALL DATA FROM THE TERMINAL

The u s e r must a n s w e r w i t h t h e appropriate number f o l l o w e d by a c a r r i a g e r e t u r n .

I f t h e u s e r answers w i t h a t h e program w i l l read a l l t h e i n p u t data from t h e

'Il",

f i l e a s s i g n e d l o g i c a l u n i t one.I f t h e u s e r s e l e c t s c h o i c e " 2 " , t h e program w i l l a s k

f o r t h e f i l e name t h a t c o n t a i n s a l l t h e i n p u t data r e q u i r e d by LINEAR. I f t h e u s e r
selects "3" or "4", t h e program w i l l prompt t h e u s e r f o r e a c h f i l e name p e r t a i n i n g t o
e a c h s e c t i o n of i n p u t data. I f o p t i o n " 5 " i s c h o s e n , t h e program w i l l prompt t h e
u s e r f o r t h e i n p u t data v a l u e s .

The d a t a i s separated i n t o t h e s i x s e c t i o n s d e s c r i b e d p r e v i o u s l y :

1. Vehicle t i t l e information,

2. v e h i c l e geometry a n d m a s s p r o p e r t i e s ,

3. S t a t e , c o n t r o l , and o b s e r v a t i o n v a r i a b l e d e f i n i t i o n s ,

4. L i m i t s f o r t h e t r i m parameters,

5. Additional c o n t r o l s u r f a c e d e f i n i t i o n s , and

6. T e s t case s p e c i f i c a t i o n s .

The program w i l l prompt t h e u s e r f o r t h e name of t h e f i l e t h a t c o n t a i n s e a c h s e c t i o n

of d a t a . An example prompt f o l l o w s :

WHAT I S THE NAME OF THE FILE CONTAINING THE T I T L E INFORMATION?

(TYPE 0 TO I N P U T THE TITLES FROM THE TERMINAL AND STORE ON A F I L E )

I f t h e user a l r e a d y h a s created a f i l e c o n t a i n i n g t h e appropriate data n e e d e d f o r t h e

s e c t i o n , a 1 0 - c h a r a c t e r (maximum) f i l e name may be e n t e r e d . I f t h e u s e r wishes t o
t y p e t h e d a t a f r o m t h e t e r m i n a l a n d h a v e t h e program f o r m a t a f i l e , a z e r o may be
e n t e r e d and t h e program w i l l prompt

WHAT WOULD YOU LIKE THE FILE TO BE CALLED?

A t t h i s time t h e u s e r must i n p u t a f i l e name ( 1 0 c h a r a c t e r s maximum) on which a l l

data t y p e d f r o m t h e t e r m i n a l w i l l be s t o r e d f o r t h a t s e c t i o n o f i n p u t data. LINEAR
w i l l t h e n prompt t h e u s e r f o r t h e s p e c i f i c d a t a it n e e d s f o r t h i s s e c t i o n .

I f t h e u s e r w i s h e s t o i n p u t a l l t h e d a t a from t h e t e r m i n a l , s e l e c t i o n " 5 " s h o u l d

b e c h o s e n a n d t h e program w i l l prompt f o r a d a t a f i l e name on which t o s t o r e t h e
input data. The program w i l l prompt t h e u s e r f o r a l l t h e i n p u t d a t a r e q u i r e d .

41
 When i n p u t t i n g t h e t i t l e d a t a , t h e program r e a d s c h a r a c t e r s t r i n g s of 80 c h a r -
a c t e r s . When p r o m p t i n g f o r v e h i c l e mass and geometry d a t a , t h e program r e a d s a
f l o a t i n g p o i n t f i e l d . An example d a t a prompt i s as f o l l o w s :

INPUT THE VEHICLE GEOMETRY AND MASS PROPERTIES

WING AREA (FT**2) =

The u s e r would i n p u t t h e v e h i c l e wing area i n square f e e t f o l l o w e d by a c a r r i a g e

return. The r e m a i n d e r of t h e v e h i c l e geometry d a t a i s i n p u t s i m i l a r l y .

When i n p u t t i n g t h e s t a t e v e c t o r from t h e t e r m i n a l , t h e u s e r must d e f i n e t h e s i z e

a n d f o r m u l a t i o n of t h e s t a t e e q u a t i o n as w e l l as t h e units i n which t h e a n g l e of
a t t a c k and s i d e s l i p s t a b i l i t y d e r i v a t i v e s w i l l be o u t p u t . The program w i l l prompt

HOW MANY STATE VARIABLES ARE I N YOUR MODEL?

(MAXIMUM 1 2 )

The program w i l l r e a d an i n t e g e r v a r i a b l e and t h e n prompt

WHICH FORM OF THE STATE EQUATION DO YOU

WISH TO USE?

1) DX/DT = A*X + B*U + D*V

2) C * DX/DT = A*X + B*U + D*V

I f t h e s t a n d a r d f o r m u l a t i o n i s b e i n g u s e d , t h e user s h o u l d i n p u t s l " and f o r t h e
g e n e r a l i z e d e q u a t i o n , "2". The LINEAR program u s e s t h e g e n e r a l i z e d f o r m u l a t i o n f o r
i n t e r n a l c a l c u l a t i o n s and t h e n p e r f o r m s any t r a n s f o r m a t i o n s n e c e s s a r y f o r t h e o u t p u t
formulation requested. The program w i l l t h e n prompt f o r t h e u n i t s of t h e a n g l e of
a t t a c k and s i d e s l i p s t a b i l i t y d e r i v a t i v e s . The program u s e s r a d i a n s f o r a l l i n t e r -
n a l c a l c u l a t i o n s and t r a n s f o r m s t h e s t a b i l i t y d e r i v a t i v e s t o d e g r e e s f o r o u t p u t
i f desired.

The v a r i a b l e s u s e d i n t h e s t a t e v e c t o r are i n p u t n e x t a n d are r e a d i n s t r i n g s

20 c h a r a c t e r s i n l e n g t h . Each v a r i a b l e name e n t e r e d is checked a g a i n s t l e g a l names
f o r state variables. I f a v a r i a b l e is i n c o r r e c t , t h e program w i l l r e s p o n d

VARIABLE so-and- SO

I S AN I N V A L I D STATE PARAMETER

PLEASE CHOOSE ANOTHER OR TYPE HELP FOR MORE INFO.

I f t h e u s e r t y p e s HELP, t h e program w i l l l i s t a l l t h e v a l i d names f o r t h e s t a t e

variables. The names a r e g i v e n i n a p p e n d i x D.

A f t e r t h e e n t i r e s t a t e v e c t o r h a s been e n t e r e d , t h e program w i l l prompt

I

THE STEP SIZE USED FOR DERIVATIVE EXTRACTION

I S I N I T I A L I Z E D FOR ALL VARIABLES TO O - O O I .
DO YOU WISH TO I N P U T A DIFFERENT VALUE
FOR ANY OF THE STATE VARIABLES? (Y/N)

42
To change the perturbation step size for any of the state variables, the user should
enter "Y" and, after being prompted, the variable name to be updated and the desired
step size.

For the interactive input of the control variables, similar prompts are given
with one major difference: after each variable name is input, the program prompts
for the location of the variable in the common block /CONTRL/ (the named common block
/CONTRL/ reserves 30 locations for control surface variable values used as interface
to the user-supplied aerodynamic model). The program also prompts for the units to
be used in calculations involving the control surface:

WHAT UNITS ARE USED IN CALCULATIONS WITH

THIS CONTROL SURFACE?

1) NONE

2) DEGREES

3) RADIANS

The units should be consistent with the calculations in UCNTRL. The program performs
transformations based on the surface type for the printer file only. No other con-
trol surface transformations are performed. Again, the derivative step size can be
changed for individual variables specified by the user.

For the interactive input of the observation vector, similar prompts are given
with a few variations. The forms available for the observation equation are

1) Y = H*X + F*U + E*V

2) Y = H*X + G*DX/DT + F*U + E*V

For variables defined in the observation vector as being offset from the vehicle cen-
ter of gravity, the program will prompt for the offset in the x, y, and z stability
axes. For any variables that are calculated based on some reference value, such as
Reynolds number, the program prompts for the correct value when the name is entered.
Again, the step size for derivative extraction can be modified f o r any observation
variable. Valid observation variable names are listed in appendix C.

If selected to be input from the terminal, the program will prompt the user for
the limits to be used for the trim parameters de, 6,, 6,, 6th' which represent the
longitudinal, lateral, directional, and thrust trim parameters, respectively. The
units associated with these parameters are defined by the implementation of UCNTRL.
(See app. J of this report for details.) An example prompt is as follows:

WHAT IS THE MAXIMUM THRUST PARAMETER?

Again, the program reads a floating point field.

After the trim axis parameter limits are defined, the program prompts

HOW MANY ADDITIONAL SURFACES DO YOU WISH

TO DEFINE?

43
 A t this time, t h e u s e r c a n d e f i n e a d d i t i o n a l c o n t r o l s t o be i n c l u d e d i n t h e l i s t of
r e c o g n i z e d c o n t r o l names. The p u r p o s e o f d e f i n i n g t h e s e a d d i t i o n a l s u r f a c e s i s t o
a l l o w t h e u s e r t o s e t s u c h v a r i a b l e s as l a n d i n g g e a r p o s i t i o n , wing sweep, or f l a p
position. The c o n t r o l s u r f a c e name, l o c a t i o n i n common /CONTFU/, and u n i t s are
d e f i n e d h e r e f o r e a c h s u r f a c e ; a c t u a l c o n t r o l s u r f a c e p o s i t i o n s are d e f i n e d d u r i n g
analysis point definition.

The program w i l l t h e n prompt t h e u s e r t o i n d i c a t e what aerodynamic model w i l l

be u s e d f o r t h i s a n a l y s i s . Aerodynamic models are d e s c r i b e d i n t h e n e x t s e c t i o n o f
t h i s report.

I f a n o n l i n e a r aerodynamic model i s u s e d , t h e program w i l l prompt t h e u s e r t o

d e t e r m i n e i f t h e r e are a d d i t i o n a l c o n t r o l s u r f a c e s f o r which d e r i v a t i v e s are d e s i r e d .
T h e s e c o n t r o l s w i l l n o t become p a r t of t h e c o n t r o l v e c t o r . T h i s o p t i o n of i n t e r -
a c t i v e L I N E A R d o e s n o t allow t h e s e c o n t r o l v a r i a b l e s t o be r e a d f r o m or s a v e d t o a
f i l e , a n d i s n o t a v a i l a b l e on t h e b a t c h v e r s i o n of L I N E A R . However, t h e s t a b i l i t y
and c o n t r o l d e r i v a t i v e o u t p u t f i l e w i l l c o n t a i n t h e s e s u r f a c e s and t h e i r d e r i v a t i v e s .

The p o i n t a t which t h e n o n l i n e a r s y s t e m e q u a t i o n s a r e l i n e a r i z e d is r e f e r r e d t o
as t h e a n a l y s i s or t r i m point. T h i s c a n r e p r e s e n t a t r u e s t e a d y - s t a t e c o n d i t i o n on
t h e s p e c i f i c t r a j e c t o r y ( a p o i n t a t which t h e r o t a t i o n a l a n d t r a n s l a t i o n a l accelera-
tions are z e r o ) or a t o t a l l y a r b i t r a r y s t a t e on a t r a j e c t o r y . LINEAR a l l o w s t h e user
t o select from a v a r i e t y of a n a l y s i s p o i n t s . W i t h i n t h e program, t h e s e a n a l y s i s
p o i n t s a r e r e f e r r e d t o as trim c o n d i t i o n s , a n d s e v e r a l o p t i o n s a r e a v a i l a b l e t o
t h e user.

I f t h e u s e r i s d e f i n i n g t h e t r i m c o n d i t i o n s i n t e r a c t i v e l y , i n s t e a d of r e a d i n g t h e
d a t a f r o m a f o r m a t t e d f i l e , t h e p r o g r a m w i l l prompt:

WHAT TYPE OF TRIM DO YOU WISH TO RUN?

1) NO T R I M
2) STRAIGHT AND LEVEL FLIGHT
3) LEVEL TURN
4) PUSH-OVER/PULL-UP
5) THRUST STABILIZED TURN
6) BETA
7) SPECIFIC POWER

The u s e r must s p e c i f y t h e number c o r r e s p o n d i n g t o t h e t y p e o f t r i m d e s i r e d . The

a r b i t r a r y s t a t e a n d c o n t r o l o p t i o n i s d e s i g n a t e d as NO TRIM, a n d i n s e l e c t i n g t h i s
o p t i o n t h e u s e r must s p e c i f y a l l n o n z e r o s t a t e a n d c o n t r o l v a r i a b l e s .

F o r a l l of t h e a n a l y s i s p o i n t d e f i n i t i o n o p t i o n s , any s t a t e or c o n t r o l parameter
may be i n p u t a f t e r t h e r e q u i r e d data i s d e f i n e d when t h e program prompts as f o l l o w s :

WHAT OTHER STATE OR CONTROL VARIABLES WOULD

YOU L I K E TO INITIALIZE?

TYPE HELP TO LIST V A L I D VARIABLES NAMES

(ENTER "N" I F NO OTHER CONDITION I S TO BE SPECIFIED)

44
 The u s e r s h o u l d e n t e r t h e name of t h e v a r i a b l e t o be i n i t i a l i z e d or t y p e HELP t o
l i s t t h e v a r i a b l e s t h a t may be i n i t i a l i z e d .

I f a l e v e l t u r n t r i m i s s e l e c t e d , t h e u s e r c a n s p e c i f y t h e d i r e c t i o n of t h e t u r n
by e n t e r i n g "TURN R I G H T " or "TURN LEFT" when prompted t o i n i t i a l i z e any o t h e r var-
i a b l e s . T h i s is e s p e c i a l l y u s e f u l f o r a s y m m e t r i c a i r c r a f t . D e f a u l t is "TURN RIGHT".

I f d a t a are b e i n g r e a d from a f i l e ( s ) , t h e d a t a can be reviewed by r e p l y i n g "Y"

when prompted

DO YOU WISH TO REVIEW THE DATA AS I T

I S READ FROM THE INPUT F I L E ( S ) ? (Y/N)

I f any data are e n t e r e d i n c o r r e c t l y , t h e u s e r s h o u l d f i n i s h e n t e r i n g a l l d a t a as

prompted by t h e program u n t i l a s k e d i f t h e r e a r e any c h a n g e s t o be made:

DO YOU WISH TO CHANGE ANY PARAMETERS

I N YOUR MODEL OR UPDATE THE INPUT
CASE SELECTION FILE? (Y/N)

A t this time, t h e u s e r s e l e c t s "Y" a n d t h e program prompts

WHAT PARAMETERS DO YOU WISH TO CHANGE?

VEHICLE GEOMETRY
STATE VECTOR
OBSERVATION VECTOR
CONTROL VECTOR
CASE INPUT F I L E
STABILITY AND CONTROL DERIVATIVES
SURFACES TO BE SET
NO FURTHER CHANGES

Any s e c t i o n o f d a t a c a n be u p d a t e d by r e a d i n g a new data f i l e or by t y p i n g i n t h e

d a t a f r o m t h e t e r m i n a l . The program prompts t h e u s e r t o d e t e r m i n e t h e s o u r c e of
i n p u t as e x p l a i n e d p r e v i o u s l y . I f t h e u s e r w i s h e s t o modify t h e v e h i c l e geometry a n d
I
mass d a t a or t h e s t a b i l i t y a n d c o n t r o l d e r i v a t i v e s i n t e r a c t i v e l y , t h e program saves
a l l t h e v a l u e s f r o m t h e previous case a n d allows t h e u s e r t o modify any i n d i v i d u a l
parameter. F o r example, i f t h e u s e r w i s h e s t o modify t h e v e h i c l e geometry proper-
t i e s , a " 1 " would be e n t e r e d a n d t h e p r o g r a m would c o n t i n u e

WHAT I S THE NAME; O F THE FILE C O N T A I N I N G THE VEHICLE

GEOMETRY AND MASS PROPERTIES?

(TYPE 0 TO INPUT THE DATA FROM THE

TERMINAL AND STORE ON A FILE)

I f t h e u s e r r e p l i e s w i t h a zero, t h e program w i l l prompt f o r a new o u t p u t f i l e name

a n d t h e n r e s p o n d as f o l l o w s :

45
 GEOMETRY AND MASS DATA FOR:
U S E R ' S GUIDE

FOR THE PROJECT:

DEMONSTRATION CASE

WING AREA 608.000

WING S P A N 42.800
MEAN CHORD 15.950
V E H I C L E WEIGHT 40700.000
IX 28700.000
IY 165100.000
IZ 187900.000
IXZ -520.000
IXY 0.000
IYZ 0.000

VECTOR D E F I N I N G REFERENCE P O I N T OF AERODYNAMIC MODEL

WITH RESPECT TO THE VEHICLE CENTER OF GRAVITY:

11) DELTA X 0.000

12) DELTA Y 0.000
13) DELTA Z 0.000
14) MINIMUM ANGLE OF ATTACK -10.000
15) MAXIMUM ANGLE OF ATTACK 40.000

16) FORCE AND MOMENT C O E F F I C I E N T S CORRECTIONS DUE

TO THE O F F S E T OF THE REFERENCE P O I N T O F THE
AERODYNAMIC MODEL FROM THE VEHICLE CG ARE
INTERNALLY CALCULATED I N L I N E A R . TYPE I N
16=0 I F CALCULATIONS ARE DONE I N CCALC.

T O MAKE CHANGES, TYPE I N THE L I N E NUMBER ON THE

D E S I R E D VALUES.
"N" I N D I C A T E S NO CHANGES ARE D E S I R E D
"R" REFRESHES THE SCREEN W I T H NEW VALUES.
FOR EXAMPLE: TO CHANGE VEHICLE WEIGHT

4=40000 0

If s e l e c t i o n "16=0" i s chosen, t h e program w i l l s e t a l o g i c a l v a r i a b l e t h a t deter-

mines where center-of-gravity c o r r e c t i o n s a r e made t o the f o r c e and moment coef-
f i c i e n t s . The vector defining the reference point of aerodynamic model w i t h respect
t o the vehicle center of gravity must be defined i n f e e t .

I f the s t a t e , c o n t r o l , or observation vectors need t o be modified, t h e user m u s t

input t h e e n t i r e vector again. The choices a v a i l a b l e f o r the t e s t case s e l e c t i o n a r e
t o input the data from the terminal €or each case or read the e n t i r e case specifica-
t i o n from a f i l e .

46
b

A l l s u r f a c e s i n t h e c o n t r o l model a r e i n i t i a l l y z e r o u n l e s s s p e c i f i e d i n t h e case
input f i l e . S u r f a c e s n o t i n t h e c o n t r o l v e c t o r c a n be s e t by c h o o s i n g o p t i o n "7"
when prompted f o r parameter changes. The program w i l l prompt f o r t h e f i l e name con-
t a i n i n g t h e s u r f a c e s t h a t c a n be s e t f o r e a c h c a s e . I f t h e user wishes t o input t h e
s u r f a c e names i n t e r a c t i v e l y , t h e program w i l l prompt f o r t h e number of s u r f a c e s t o be
added, t h e i r names, l o c a t i o n i n common /CONTIU/ and u n i t s u s e d i n s u b r o u t i n e UCNTRL.
I f t h e l o c a t i o n i n conunon /CONTRL/ h a s a l r e a d y been d e s i g n a t e d f o r a n o t h e r s u r f a c e ,
t h e program w i l l s a v e t h e o r i g i n a l name and i g n o r e any o t h e r name i n p u t f o r t h a t
l o c a t i o n , a n d so i n f o r m t h e u s e r .

The i n t e r a c t i v e L I N E A R program p r o v i d e s t h e u s e r w i t h t w o d i f f e r e n t ways t o

c a l c u l a t e t h e t o t a l f o r c e and moment c o e f f i c i e n t s . One method i s by u s i n g a f u l l
aerodynamic m o d e l and t h e s u b r o u t i n e s ADATIN and CCALC. The o t h e r method u s e s a s e t
o f l i n e a r i z e d s t a b i l i t y and c o n t r o l d e r i v a t i v e s , and t h e i n t e r n a l s u b r o u t i n e CLNCAL.
When u s i n g t h e s e c o n d method, t h e data c a n be t y p e d i n d u r i n g e x e c u t i o n o r c a n be
i n p u t from a f i l e .

An example of a l i n e a r i z e d s t a b i l i t y and c o n t r o l data s e t i s shown i n a p p e n d i x G.

The f i r s t l i n e c o n t a i n s t h e f i l e d e s c r i p t i o n . The case number (1-999) a t t h e end of
t h e f i r s t l i n e a l l o w s t h e u s e r t o c o r r e l a t e t h e l i n e a r i z e d d a t a from a case t o o t h e r
d a t a from t h a t case. The n e x t l i n e i s t h e t i t l e of t h e r u n . The f o l l o w i n g two l i n e s
of t e x t d e s c r i b e t h e p r o j e c t f o r which t h e case w a s r u n , and t h e n e x t two l i n e s l i s t
t h e r e f e r e n c e a l t i t u d e and Mach number f o r t h e case. The n e x t l i n e d e t e r m i n e s
w h e t h e r t h e a l p h a and beta d e r i v a t i v e s are i n u n i t s of d e g r e e s o r r a d i a n s . The
f o l l o w i n g t w o l i n e s i n d i c a t e whether Mach o r v e l o c i t y d e r i v a t i v e s w i l l be r e a d i n .
T h i s i s i n t e n d e d t o warn t h e u s e r a g a i n s t m o d i f y i n g t h e wrong d e r i v a t i v e w h i l e
e d i t i n g o u t s i d e of L I N E A R . I f t h e wrong d e r i v a t i v e i s changed, L I N E A R w i l l i g n o r e
t h e change. A d d i t i o n a l l y , i f t h e r e f e r e n c e a l t i t u d e i s changed, L I N E A R w i l l r e l y
on t h e s p e c i f i e d d e r i v a t i v e and compute t h e o t h e r b a s e d on t h e s p e e d of sound which
i s a f u n c t i o n of a l t i t u d e . While e d i t i n g t h i s f i l e i n L I N E A R , t h i s c a u t i o n i s n o t
n e c e s s a r y s i n c e LINEAR w i l l p e r f o r m t h e c o m p u t a t i o n r i g h t away. A l s o , when t h e s e
d e r i v a t i v e s a r e changed i n LINEAR, t h e l a s t v e l o c i t y o r Mach d e r i v a t i v e changed w i l l
d e t e r m i n e which one L I N E A R w i l l r e g a r d as t h e s p e c i f i e d d e r i v a t i v e when t h e f i l e
is output.

The n e x t l i n e d e t e r m i n e s t h e number of c o n t r o l s u r f a c e s u s e d f o r c o n t r o l d e r i v a -
tives. The u n i t s of each of t h e c o n t r o l s u r f a c e s , where a p p l i c a b l e , are l i s t e d n e x t
t o t h e s u r f a c e name as w e l l a s t h e l o c a t i o n of t h e s u r f a c e i n t h e common /CONTIU/.
The u n i t s d e f i n e d f o r each s u r f a c e c o r r e s p o n d t o t h e u n i t s d e f i n e d i n u s e r - s u p p l i e d
s u b r o u t i n e CCALC.

The rest of t h e f i l e c o n t a i n s t h e s t a b i l i t y and c o n t r o l d e r i v a t i v e s . T h i s p a r t

i s broken i n t o s i x s e c t i o n s , one f o r e a c h of t h e f o r c e and moment c o e f f i c i e n t s . In
e a c h s e c t i o n , t h e r e is one z e r o c o e f f i c i e n t c o r r e s p o n d i n g t o z e r o a n g l e of a t t a c k ,
z e r o s i d e s l i p , z e r o c o n t r o l s u r f a c e d e f l e c t i o n , a n d c o n s t a n t Mach and a l t i t u d e . Each
s e c t i o n a l s o c o n t a i n s 10 s t a b i l i t y d e r i v a t i v e s . I n a d d i t i o n , e a c h s e c t i o n h a s as
many c o n t r o l d e r i v a t i v e s a s s p e c i f i e d e a r l i e r . The s i x s e c t i o n s must a l w a y s b e i n
t h e same order: r o l l i n g moment, p i t c h i n g moment, yawing moment, d r a g f o r c e , l i f t
f o r c e , and s i d e f o r c e .

The easiest way t o f o r m a t a d e r i v a t i v e f i l e i s by r u n n i n g t h e i n t e r a c t i v e LINEAR

program and i n p u t t i n g t h e d e r i v a t i v e s when prompted by t h e program. One of t h e o u t -

47
p u t f i l e s from LINEAR i s t h e s t a b i l i t y a n d c o n t r o l d e r i v a t i v e f i l e t h a t c a n be u s e d
l a t e r t o a n a l y z e t h e s a m e case. (See t h e Aerodynamic Model s e c t i o n f o r more i n f o r -
mation.) When u s i n g a l i n e a r i z e d s e t o f s t a b i l i t y a n d c o n t r o l d e r i v a t i v e s f r o m a
p r e v i o u s case, t h e u s e r must be c a r e f u l t o d e f i n e a c o n t r o l v e c t o r t h a t i s c o n s i s t e n t
w i t h t h e d e r i v a t i v e set. If a s u r f a c e i s d e f i n e d t h a t does n o t have c o r r e s p o n d i n g
c o n t r o l d e r i v a t i v e s on t h e f i l e , t h a t s u r f a c e ' s e f f e c t s on t h e f o r c e s a n d moments
w i l l n o t be i n c l u d e d i n t h e l i n e a r s y s t e m model c a l c u l a t e d . The u s e r s h o u l d a l s o be
aware t h a t L I N E A R e x p e c t s t o h a v e c o n t r o l o v e r a l l a x e s t o d e t e r m i n e a trimmed s t a t e 4
I f t h e r e a r e no n o n z e r o c o n t r o l d e r i v a t i v e s i n a g i v e n a x i s , it is h i g h l y l i k e l y t h a t
L I N E A R w i l l f a i l t o t r i m ; a n d it may e v e n g e n e r a t e a f a t a l error i n t h e n o n l i n e a r
equation solver (generally a floating-point overflow).

AERODYNAMIC MODEL

A s a l r e a d y s t a t e d , t h e r e a r e t w o methods f o r c a l c u l a t i n g t h e t o t a l f o r c e a n d
moment c o e f f i c i e n t s . One method r e l i e s on a f u l l n o n l i n e a r a e r o d y n a m i c model t o pro-
v i d e t h e s t a b i l i t y and c o n t r o l d e r i v a t i v e s . T h e s e d e r i v a t i v e s are s t o r e d i n common
b l o c k s i n t h e u s e r - s u p p l i e d r o u t i n e ADATIN a n d u s e d i n CCALC t o c a l c u l a t e t h e t o t a l
f o r c e a n d moment c o e f f i c i e n t s u s i n g t h e s t a t e a n d c o n t r o l s u r f a c e values c a l c u l a t e d
i n LINEAR. These s u b r o u t i n e s a n d t h e a e r o d y n a m i c model a r e t h e same o n e s u s e d i n t h e
manned s i m u l a t i o n s a t Ames-Dryden.

Using a f u l l a e r o d y n a m i c model w i t h CCALC a n d ADATIN e n a b l e s t h e u s e r t o r u n as

many cases as d e s i r e d w i t h o u t c h a n g i n g d e r i v a t i v e d a t a sets. From e a c h case, t h e
program g e n e r a t e s a s t r u c t u r e d l i n e a r i z e d d e r i v a t i v e d a t a f i l e which c a n be u s e d a s
a n i n p u t f i l e l a t e r . T h i s f i l e c o n t a i n s a l l t h e s t a b i l i t y and c o n t r o l d e r i v a t i v e s
f o r t h e c o n t r o l s u r f a c e s s p e c i f i e d i n t h e c o n t r o l v e c t o r , and any o t h e r c o n t r o l s
s p e c i f i e d by t h e u s e r . The i n t e r f a c e r e q u i r e d f o r u s i n g a n o n l i n e a r a e r o d y n a m i c
model i s d e s c r i b e d l a t e r i n t h e Aerodynamic Model S u b r o u t i n e s s e c t i o n .

The o t h e r method f o r c a l c u l a t i n g t o t a l f o r c e a n d moment c o e f f i c i e n t s r e q u i r e s t h e

user t o supply l i n e a r i z e d s t a b i l i t y and c o n t r o l derivatives. These are used i n t h e
i n t e r n a l s u b r o u t i n e CLNCAL t o c a l c u l a t e t h e t o t a l f o r c e a n d moment c o e f f i c i e n t s .
When u s i n g t h i s o p t i o n , care must be t a k e n t o e n s u r e t h a t t h e i n p u t data i s v a l i d
f o r t h e t r i m p o i n t desired. C e n t e r - o f - g r a v i t y s h i f t s w i l l n o t a f f e c t t h e d a t a t h a t
i s o u t p u t t o t h e d e r i v a t i v e f i l e when t h i s method i s used.

The method u s e d t o c a l c u l a t e t h e f o r c e a n d moment c o e f f i c i e n t s i s s p e c i f i e d

d u r i n g t h e i n p u t p h a s e f o r a p a r t i c u l a r case. A f t e r a l l t h e v e h i c l e d a t a , s t a t e ,
c o n t r o l , o b s e r v a t i o n v e c t o r s , a n d case data h a v e been d e f i n e d , t h e p r o g r a m w i l l
prompt

DO YOU W I S H TO

1) INPUT A SET OF LINEAR S T A B I L I T Y

AND CONTROL DERIVATIVES
2) OR USE THE NONLINEAR MODEL
YOU HAVE INTERFACED WITH THIS PROGRAM

I f t h e i n t e r n a l r o u t i n e s a r e t o b e u s e d t o c a l c u l a t e t h e d e r i v a t i v e s , t h e program
w i l l prompt

48
 DO YOU W I S H TO

1) GENERATE A NEW DATA S E T

2) OR USE A DERIVATIVE DATA S E T YOU HAVE ON F I L E
3) OR MODIFY THE OLD ONE

, ~f t h e d e r i v a t i v e s are s t o r e d on a f i l e ( f o r m a t f o r t h e f i l e i s g i v e n i n app. G ) , t h e
program w i l l prompt f o r a f i l e name. A t t h i s p o i n t , t h e u s e r c a n modify t h e data
i n t e r a c t i v e l y by c h o o s i n g one of t h e f o l l o w i n g o p t i o n s :

T O CHANGE ANY D E R I V A T I V E S , INPUT THE

APPROPRIATE L I N E # TO S E E THE DATA.
TYPE I N "N" I F NO CHANGES D E S I R E D

TYPE OF ANGLE MEASUREMENT

ROLL MOMENT
P I T C H MOMENT
YAW MOMENT
DRAG FORCE
L I F T FORCE
S I D E FORCE
ADD SURFACES

I f t h e u s e r selects o p t i o n one, t h e program w i l l l i s t t h e u n i t s t h a t a r e u s e d f o r

o u t p u t of t h e s t a b i l i t y d e r i v a t i v e s . It w i l l a l s o l i s t t h e units f o r e a c h c o n t r o l
s u r f a c e d e r i v a t i v e as u s e d f o r c a l c u l a t i o n s i n t h e s u b r o u t i n e UCNTRL. T h e r e are
t h r e e c h o i c e s f o r u n i t s f o r t h e c o n t r o l s u r f a c e s : none, r a d i a n s , and d e g r e e s . If
t h e c o n t r o l s u r f a c e c a l c u l a t i o n s i n UCNTRL are n o n d i m e n s i o n a l , t h e u s e r s h o u l d spec-
i f y none, a n d no c o n v e r s i o n is done. For s u r f a c e c a l c u l a t i o n s i n r a d i a n s , a conver-
s i o n t o d e g r e e s f o r o u t p u t o n l y i s performed. I f d e g r e e s is s p e c i f i e d , no conver-
s i o n is done. When t h e u s e r i n p u t s t h e s t a b i l i t y and c o n t r o l d e r i v a t i v e s , t h e p r o -
gram does n o t p e r f o r m any c o n v e r s i o n s , t h e r e f o r e , care must be t a k e n t o e n s u r e t h a t
t h e u n i t s a r e c o n s i s t e n t w i t h t h e aerodynamic model and t h e c a l c u l a t i o n s i n UCNTRL.

I f o p t i o n "8" i s c h o s e n , t h e c o n t r o l s u r f a c e s d e f i n e d a r e l i s t e d , and t h e u s e r
c a n d e f i n e o t h e r s u r f a c e s i n common /CONTRL/ f o r which d e r i v a t i v e s e x i s t .

I f t h e d e r i v a t i v e s are be t o c a l c u l a t e d from a n o n l i n e a r aerodynamic model, t h e

program w i l l prompt f o r t h e names of any o t h e r c o n t r o l s u r f a c e s n o t d e f i n e d i n t h e
c o n t r o l v e c t o r f o r which l i n e a r i z e d d e r i v a t i v e s w i l l be c a l c u l a t e d . I f o p t i o n s "2"
t h r o u g h "7" a r e chosen, t h e program w i l l l i s t t h e c u r r e n t v a l u e s f o r t h e s t a b i l i t y
a n d c o n t r o l d e r i v a t i v e s € o r each r e s p e c t i v e c o e f f i c i e n t . The u s e r can change t h e s e
v a l u e s i n t e r a c t i v e l y , a s i n t h e f o l l o w i n g example:

ROLL MOMENT D E R I V A T I V E S

WITH RESPECT TO:

0 ) CLO -0.000033820
1 ) ROLL RATE (RAD/SEC) -0.200000003
2) P I T C H RATE (RAD/SEC) 0.000000000
3 ) YAW RATE (RAD/SEC) 0.163589999

49
 4) VELOCITY ( FT/SEC) -0.000000115
5) MACH NUMBER -0.000119522
6) ALPHA ( DEG/SEC 1 0.000362335
7) BETA ( DEG/SEC ) -0.140983000

TO MAKE CHANGES, TYPE I N THE LINE NUMBER

AND THE VALUE O F THE DERIVATIVE.

"N" INDICATES NO CHANGES ARE DESIRED

"R" REFRESHES THE SCREEN WITH THE NEW VALUES
FOR EXAMPLE: ROLL MOMENT WRT ALPHA

6=0.003

OUTPUT FILES

T h e r e are f o u r o u t p u t f i l e s from LINEAR: ( 1 ) a general-purpose a n a l y s i s f i l e ,

( 2 ) a p r i n t e r f i l e c o n t a i n i n g t h e c a l c u l a t e d case c o n d i t i o n s a n d t h e state-space
matrices f o r e a c h case, ( 3 ) a p r i n t e r f i l e c o n t a i n i n g t h e c a l c u l a t e d case c o n d i t i o n ,
o n l y , and ( 4 ) a l i n e a r i z e d set of s t a b i l i t y and c o n t r o l d e r i v a t i v e s . LINEAR also
o u t p u t s any data i n p u t by t h e u s e r d u r i n g a n i n t e r a c t i v e s e s s i o n t h a t c a n be u s e d
l a t e r e i t h e r by t h e b a t c h or i n t e r a c t i v e p r o g r a m s . The program prompts t h e user f o
t h e f i l e names t h a t e a c h o f t h e s e c t i o n s of data w i l l be w r i t t e n t o , as d e s c r i b e d i
t h e I n t e r a c t i v e Data I n p u t s e c t i o n .

The g e n e r a l - p u r p o s e a n a l y s i s f i l e c o n t a i n s t h e f o l l o w i n g : t h e t i t l e o f t h e cas
b e i n g analyzed; t h e state, c o n t r o l , and o b s e r v a t i o n v a r i a b l e s used t o d e f i n e t h e
state-space model; a n d t h e s t a t e a n d o b s e r v a t i o n matrices c a l c u l a t e d i n L I N E A R . Th
C a n d G matrices a r e p r i n t e d o n l y i f t h e u s e r h a s s e l e c t e d a n appropriate f o r m u l a -
t i o n of t h e s t a t e a n d o b s e r v a t i o n e q u a t i o n s . The o u t p u t f o r t h i s f i l e i s a s s i g n e d
t o FORTRAN d e v i c e number 15. An example g e n e r a l - p u r p o s e a n a l y s i s f i l e is p r e s e n t e d
i n a p p e n d i x H c o r r e s p o n d i n g t o t h e f o r m a t o f t a b l e 2.

The v e h i c l e a n d case t i t l e s are w r i t t e n on t h e f i r s t t w o r e c o r d s o f t h e a n a l y s i

file in 8 0 - c h a r a c t e r s t r i n g s a n d a r e s p e c i f i e d i n LINEAR as t h e t i t l e o f t h e v e h i c l
and t h e t i t l e of t h e cases. The n e x t record c o n t a i n s t h e number of t h e case a s
defined i n L I N E A R (maximum of 999 cases).

The number of s t a t e s , c o n t r o l s , a n d o u t p u t s u s e d t o d e f i n e e a c h case i s w r i t t e n

o n t h e s u b s e q u e n t record. The f o r m u l a t i o n o f t h e s t a t e a n d o b s e r v a t i o n e q u a t i o n s
i s l i s t e d n e x t , f o l l o w e d by t h e names a n d v a l u e s of t h e s t a t e s , c o n t r o l s , dynamic
i n t e r a c t i o n v a r i a b l e s , a n d o u t p u t s . T h e s e v a l u e s a r e f o l l o w e d by t h e matrices t h a t
d e s c r i b e e a c h case.

The t i t l e records o n l y appear a t t h e b e g i n n i n g o f t h e f i l e w h i l e a l l o t h e r

r e c o r d s a r e d u p l i c a t e d f o r e a c h s u b s e q u e n t case c a l c u l a t e d i n LINEAR. The matrices
a r e w r i t t e n r o w - w i s e , f i v e columns a t a t i m e as shown i n t a b l e 3. T h i s t a b l e shows
system c o n t a i n i n g seven states, t h r e e c o n t r o l s , and eleven o u t p u t s u s i n g t h e genera
s t a t e e q u a t i o n and s t a n d a r d o b s e r v a t i o n e q u a t i o n .

50
 TABLE 2. - ANALYSIS FILE FORMAT

Variable Format
Title of the case
Title of the aircraft
Case number
Number of states, controls, and outputs
State equation formulation
Observation equation formulation

State variable names, values and units

Control variable names, values and units

Dynamic interaction variable names and units

Output variable names, values and units

Matrix name
A-Ma trix
Matrix name
B-Matrix
Matrix name
D-Matr ix
Matrix name
C-Matrix (if general form chosen)
Matrix name
H-Matrix
Matrix name
F-Matrix
Matrix name
E-Ma trix
Matrix name
G-Matrix (if general f o r m c h o s e n )

51
 TABLE 3. - ANALYSIS FILE OUTPUT
MATRIX STRUCTURE

Size of m a t r i x O u t p u t formulation

A = [ 7 x 7 ] A = [ 7 x 5 ]
[ 7 x 2 1
B = [ 7 x 3 ] B = [ 7 x 3 ]
D = [ 7 x 6 1 D = [ 7 x 5 ]
[ 7 x 1 1
C = [ 7 x 7 1 C = [ 7 x 5 1
[ 7 x 2 1
H = [ I 1 x 71 H = [ I 1 x 51
[ l l x 21
F = [11 x 31 F = [11 x 31
E = [11 x 61 E = [11 x 51
[ l l x 11

52
 The s e c o n d o u t p u t f i l e , which i s a s s i g n e d t o FORTRAN device u n i t number 3 , con-
' t a i n s t h e values calculated i n L I N E A R d e s c r i b i n g e a c h case. The f i r s t s e c t i o n o f
I t h i s f i l e c o n t a i n s a l i s t i n g o f t h e i n p u t d a t a d e f i n i n g t h e a i r c r a f t ' s geometry a n d
m a s s p r o p e r t i e s , v a r i a b l e names d e f i n i n g t h e state-space model, a n d v a r i o u s c o n t r o l
s u r f a c e l i m i t s c h a r a c t e r i s t i c of t h e g i v e n a i r c r a f t . Appendix I p r e s e n t s a n example
p r i n t e r output f i l e . '

The s e c o n d s e c t i o n of t h i s f i l e c o n t a i n s t h e t r i m c o n d i t i o n s of t h e a i r c r a f t a t
t h e p o i n t of i n t e r e s t . T h e s e c o n d i t i o n s i n c l u d e t h e t y p e of t r i m b e i n g attempted,
w h e t h e r t r i m w a s a c h i e v e d , a n d parameters d e f i n i n g t h e trim c o n d i t i o n .

The v a l u e s f o r t h e v a r i a b l e s of t h e state-space model a t t h e t r i m c o n d i t i o n are

' also p r i n t e d .
0 .

I f t r i m w a s n o t a c h i e v e d , p, q, r ,
.

<, 8, a n d & ( c a l c u l a t e d from t h e

' e q u a t i o n s o f m o t i o n ) a n d t h e f o r c e a n d moment c o e f f i c i e n t s are p r i n t e d . Changes i n
t h e geometry a n d mass p r o p e r t i e s are a l s o p r i n t e d .

The t h i r d s e c t i o n o f t h i s o u t p u t f i l e c o n t a i n s t h e n o n d i m e n s i o n a l s t a b i l i t y a n d
c o n t r o l d e r i v a t i v e s f o r t h e t r i m c o n d i t i o n c a l c u l a t e d . The s t a t i c margin of t h e
a i r c r a f t a t t h e given f l i g h t condition is a l s o printed.

1 The f i n a l s e c t i o n of t h i s o u t p u t f i l e c o n t a i n s t h e s t a t e a n d o b s e r v a t i o n matrices
L
f o r t h e given f l i g h t condition. The f o r m u l a t i o n of t h e s t a t e e q u a t i o n s a n d o n l y t h e
terms o f t h e matrices c h o s e n by t h e u s e r t o d e f i n e t h e model are p r i n t e d .

The t h i r d o u t p u t f i l e , which i s a s s i g n e d t o FORTRAN device u n i t 2, c o n t a i n s t h e

t r i m c o n d i t i o n s o f t h e a i r c r a f t a t t h e p o i n t of i n t e r e s t . These c o n d i t i o n s i n c l u d e
t h e t y p e of t r i m b e i n g attempted, w h e t h e r t r i m w a s a c h i e v e d , parameters d e f i n i n g t h e
t r i m c o n d i t i o n , a n d t h e s t a t i c m a r g i n of t h e a i r c r a f t a t t h e g i v e n f l i g h t c o n d i t i o n .
Appendix I a l s o p r e s e n t s a n example of t h i s f i l e .

The f o u r t h o u t p u t f i l e i s t h e s e t of l i n e a r i z e d s t a b i l i t y a n d c o n t r o l d e r i v a t i v e s
f o r e a c h case as d e f i n e d i n t h e Aerodynamic Model s e c t i o n .

USER-SUPPLIED SUBROUTINES

T h e r e are f i v e s u b r o u t i n e s t h a t must be s u p p l i e d by t h e u s e r t o i n t e r f a c e L I N E A R
w i t h a s p e c i f i c a i r c r a f t ' s s u b s y s t e m models: A D A T I N , CCALC, IFENGN, UNCTKL, a n d
MASGEO. The f i r s t t w o s u b r o u t i n e s comprise t h e aerodynamic model. The s u b r o u t i n e
IFENGN i s u s e d t o provide a n i n t e r f a c e between LINEAR a n d any e n g i n e m o d e l i n g rou-
t i n e s t h e u s e r may w i s h t o i n c o r p o r a t e . UCNTRL c o n v e r t s t h e t r i m parameters u s e d
by LINEAR i n t o c o n t r o l s u r f a c e d e f l e c t i o n s f o r t h e a e r o d y n a m i c m o d e l i n g r o u t i n e s .
MASGEO e n a b l e s t h e mass a n d geometry p r o p e r t i e s t o change as t h e a i r c r a f t c o n f i g u r a -
t i o n does ( f o r example, w i t h wing s w e e p ) . The u s e of t h e s e s u b r o u t i n e s i s i l l u s t r a -
t e d i n f i g u r e 3 which shows t h e program f l o w a n d t h e i n t e r a c t i o n of LINEAR w i t h t h e
user-supplied subroutines. These s u b r o u t i n e s a r e described i n d e t a i l on t h e f o l -
lowing pages. Examples of t h e s e s u b r o u t i n e s c a n be found i n a p p e n d i x J.

53
 DES -- --25.0
5.43
-
-
180
n
*

DAS -- 20.0
__
4.0
-
-- 180
- n
*

- 1-
4.0
-- 1

180
n
*

I -1.0 I

Figure 3. P r o g r a m f l o w diagram
showing communication with u s e r -
supplied subroutines.

Aerodynamic Model S u b r o u t i n e s

I t i s assumed t h a t t h e a e r o d y n a m i c models c o n s i s t of t w o main s u b r o u t i n e s :

A D A T I N a n d CCALC. ADATIN i s u s e d t o i n p u t t h e b a s i c a e r o d y n a m i c d a t a f r o m remote
storage. ADATIN c a n a l s o be u s e d t o d e f i n e a e r o d y n a m i c d a t a . CCALC i s t h e s u b -
r o u t i n e t h a t u s e s t h i s a e r o d y n a m i c data, t h e s t a t e v a r i a b l e s , a n d t h e s u r f a c e posi-
t i o n s t o determine t h e aerodynamic c o e f f i c i e n t s . E i t h e r r o u t i n e may c a l l o t h e r
s u b r o u t i n e s t o perform r e l a t e d or r e q u i r e d f u n c t i o n s ; however, f r o m t h e p o i n t of
view of t h e i n t e r f a c e t o L I N E A R , o n l y t h e s e t w o s u b r o u t i n e s are r e q u i r e d f o r a n a e r c
dynamic model.

E x t e r n a l l y , ADATIN h a s no i n t e r f a c e t o t h e p r o g r a m L I N E A R . The s u b r o u t i n e i s
c a l l e d o n l y o n c e when t h e a e r o d y n a m i c d a t a is i n p u t o r d e f i n e d . The c a l l i n g p r o g r a n
h a s t o p r o v i d e ADATIN w i t h t h e i n p u t d e v i c e s it r e q u i r e s , b u t no o t h e r accommodation
i s n e c e s s a r y . The a e r o d y n a m i c data i s communicated f r o m ADATIN t o CCALC t h r o u g h
named common b l o c k s t h a t o c c u r o n l y i n t h e s e t w o r o u t i n e s .

The i n t e r f a c e between CCALC and t h e c a l l i n g p r o g r a m i s somewhat more c o m p l i c a t e d

However, t h e i n t e r f a c e i s s t a n d a r d a n d t h i s f e a t u r e p r o v i d e s a framework a b o u t which
a g e n e r a l p u r p o s e t o o l c a n be b u i l t . T h i s i n t e r f a c e c o n s i s t s of s e v e r a l named com-
mon b l o c k s which are u s e d t o pass s t a t e v a r i a b l e s , a i r data parameters, s u r f a c e posi
t i o n s , a n d f o r c e a n d moment c o e f f i c i e n t s between CCALC a n d t h e c a l l i n g program.
CCALC is e x e c u t e d whenever new a e r o d y n a m i c c o e f f i c i e n t s are r e q u i r e d ( f o r example,
o n c e per f r a m e f o r a real-time s i m u l a t i o n ) .

The main t r a n s f e r of data i n t o t h e s u b r o u t i n e CCALC i s t h r o u g h f i v e named common

blocks. T h e s e common b l o c k s c o n t a i n t h e s t a t e v a r i a b l e s , a i r data parameters, a n d

54
I Externally, ADATIN has no interface to the program LINEAR. The subroutine is
called only once when the aerodynamic data is input or defined. The calling program
'has to provide ADATIN with the input devices it requires, but no other accommodation
is necessary. The aerodynamic data is communicated from ADATIN to CCALC through
named common blocks that occur only in these two routines.

The interface between CCALC and the calling proyram is somewhat more complicated.
However, the interface is standard and this feature provides a framework about which
a general purpose tool can be built. This interface consists of several named com-
mon blocks which are used to pass state variables, air data parameters, surface posi-
tions, and force and moment coefficients between CCALC and the calling program.
CCALC is executed whenever new aerodynamic coefficients are required (for example,
once per frame for a real-time simulation).

The main transfer of data into the subroutine CCALC is through five named common
blocks. These common blocks contain the state variables, air data parameters, and
surface positions. The transfer of data from CCALC is through a named common block
containing the aerodynamic force and moment coefficients. The details of these com-
mon blocks follow.

The common block /DRVOUT/ contains the state variables and their derivatives with
respect to time. The structure of this common block is given as follows:

COMMON /DRVOUT/ T I

P I Q r R I

V , ALP , BTA ,
THA PSI PHI
H I X r Y I

TDOT ,
PDOT , QDOT , RDOT ,
VDOT , ALPDOT, BTADOT,
THADOT, PSIDOT, PHIDOT,
HDOT , XDOT , YDOT

The body axis rates p, q, and r appear as P, Q , and R, respectively. Total velocity
is represented by the variable V and the altitude by H. Angle of attack (ALP), angle
of sideslip ( B T A ) , and their derivatives with respect to time (ALPDOT and BTADOT,
respectively) are also contained within this common block.

The common block /SIMOUT/ contains the main air-data parameters required for the
aerodynamic model. The variables in this common block are as follows:

COMMON /SIMOUT/ AMCH, QBAR, GMA, DEL,

UB , VB , WB ,
VEAS, VCAS

Mach number and dynamic pressure are the first two entries in the common block sym-
bolized by AMCH and QBAR, respectively. The body axis velocities u, v, and w are
included as UB, VB, and WB, respectively.

55
 The /CONTRL/ common block contains the surface position information. The exact
definition of each of the elements used for a particular aerodynamic model is deter
mined by the implementer of that model. The structure of the common block /CONTRL/
is as follows:

COMMON /CONTRL/ DC ( 3 0 )

The common block /DATAIN/ contains geometry and mass information. The first
three variables in the common block, S, B, and CBAR, represent wing area, wing span
and mean aerodynamic chord, respectively. The vehicle mass is represented by AMSS.
The structure of common /DATAIN/ is as follows:

COMMON /DATAIN/ S ,B , CBAR, AMSS,

AIX , AIY , AIZ , AIXZ,

AIXY, AIYZ, AIXE

The information on the displacement of the reference point of the aerodynamic

data with respect to the aircraft center of gravity is contained in the /CGSHFT/
common block:

COMMON /CGSHFT/ DELX, DELY, DELZ

The displacements are defined along the vehicle body axis with DELX, DELY, and DELZ
representing the displacements for the x, y, and z axes, respectively.

The output common block /CLCOUT/ contains the variables representing the aero-
dynamic moment and force coefficients:

COMMON /CLCOUT/ CL, CM, CN, CD, CLFT, CY

The variables CL, CM, and CN are the symbols for the rolling moment (CQ), pitching
moment (Cm), and yawing moment (C,) coefficients, respectively; these terms are bod
axis coefficients. The stability axis forces are represented by CDI coefficient of
drag (eD); CLFT, coefficient of lift (CL); and CYI sideforce coefficient (Cy).

Control Model Subroutines

The LINEAR program attempts to trim the given condition using control inputs
similar to that of a pilot: longitudinal stick, lateral stick, rudder, and throttl
The UCNTRL subroutine uses these trim output control values to calculate actual sur
face deflections and power lever angles for the given aircraft (fig. 2). The loca-
tion of each surface and power lever angle in the /CONTRL/ common block is specifie
by the user in the input file (maximum of 30 surfaces). The limits for the control
parameters in pitch, roll, yaw, and thrust are user specified and must agree in uni
with the calculations in CCALC.

The common block /CTPARM/ contains the four trim parameters that must be relate
to surface deflections in the subroutine UCNTRL:

COMMON /CTPARM/ DES, DAS, DRS, THRSTX

56
IThe o u t p u t from UCNTRL i s v i a t h e common b l o c k /CONTRL/ d e s c r i b e d p r e v i o u s l y i n t h e
Aerodynamic Model S u b r o u t i n e s s e c t i o n . The v a r i a b l e s DES, DAS, DRS, a n d THRSTX a r e
used t o t r i m t h e l o n g i t u d i n a l , l a t e r a l , d i r e c t i o n a l , and t h r u s t axes, r e s p e c t i v e l y .

I F o r a n a i r c r a f t u s i n g f e e d b a c k ( s u c h as a s t a t i c a l l y u n s t a b l e v e h i c l e ) , s t a t e
v a r i a b l e s a n d t h e i r d e r i v a t i v e s a r e a v a i l a b l e i n t h e common b l o c k /DRVOUT/. However,
t h i s c o n t r o l model must c o n t a i n no s t a t e s of i t s own. I f parameters o t h e r t h a n s t a t e
v a r i a b l e s a n d t h e i r t i m e d e r i v a t i v e s a r e r e q u i r e d f o r f e e d b a c k , t h e u s e r may access
them u s i n g t h e common b l o c k /OBSERV/ described l a t e r i n t h e Mass a n d Geometry Model
S u b r o u t i n e s s e c t i o n of t h i s report.

E n g i n e Model S u b r o u t i n e s

, The s u b r o u t i n e IFENGN computes i n d i v i d u a l e n g i n e parameters u s e d by LINEAR t o

c a l c u l a t e f o r c e , t o r q u e , a n d g y r o s c o p i c e f f e c t s due t o e n g i n e o f f s e t f r o m t h e cen-
terline. The parameters f o r e a c h e n g i n e (maximum of f o u r e n g i n e s ) a r e passed t h r o u g h
common /ENGSTF/ as f o l l o w s :

COMMON /ENGSTF/ THRUST(41, TLOCAT(4,3), XYANGL(4), XZANGL(4),

TVANXY(4), TVANXZ ( 4 ) , DXTHRS(4),

EIX ( 4 1 , AMSENG (41, ENGOMG(4)

The v a r i a b l e s i n t h i s common b l o c k c o r r e s p o n d t o t h r u s t (THRUST); x , y , a n d z body

a x i s c o o r d i n a t e s of t h e p o i n t a t which t h r u s t a c t s (TLOCAT); t h e o r i e n t a t i o n of t h e
t h r u s t v e c t o r i n t h e x-y body a x i s p l a n e ( X Y A N G L ) , i n d e g r e e s ; t h e o r i e n t a t i o n of t h e
t h r u s t v e c t o r i n t h e x-z body a x i s p l a n e ( X Z A N G L ) , i n d e g r e e s ; t h e o r i e n t a t i o n of t h e
t h r u s t v e c t o r i n t h e x-y e n g i n e a x i s p l a n e ( T V A N X Y ) , i n d e g r e e s ; a n d t h e o r i e n t a t i o n
of t h e t h r u s t v e c t o r i n t h e x-z e n g i n e a x i s p l a n e (TVANXZ), i n d e g r e e s . The d i s t a n c e
between t h e c e n t e r of g r a v i t y o f t h e e n g i n e a n d t h e t h r u s t p o i n t (DXTHRS), m e a s u r e d
p o s i t i v e i n t h e n e g a t i v e x engine a x i s d i r e c t i o n ; t h e r o t a t i o n a l i n e r t i a of t h e
e n g i n e ( E I X ) ; m a s s (AMSENG); a n d t h e r o t a t i o n a l v e l o c i t y o f t h e e n g i n e (ENGOMG)
bare a l s o i n t h i s common b l o c k . The v a r i a b l e s a r e a l l d i m e n s i o n e d t o accommodate up
t o four engines. Appendix €3 p r o v i d e s g r a p h i c a l a n d p h y s i c a l d e s c r i p t i o n s of t h e s e
parameters.

p W h i l e t h e common b l o c k s t r u c t u r e w i t h i n LINEAR i s d e s i g n e d f o r e n g i n e s t h a t do
n o t i n t e r a c t w i t h t h e v e h i c l e a e r o d y n a m i c s , p r o p e l l e r - d r i v e n a i r c r a f t c a n be e a s i l y
modeled by communicating t h e appropriate parameters from t h e e n g i n e model IFENGN t o
t h e a e r o d y n a m i c m o d e l CCALC.

Mass a n d Geometry Model S u b r o u t i n e s

The s u b r o u t i n e MASGEO allows t h e u s e r t o v a r y t h e c e n t e r - o f - g r a v i t y p o s i t i o n a n d

vehicle i n e r t i a s automatically. N o m i n a l l y , t h i s s u b r o u t i n e must e x i s t as o n e o f t h e
u s e r s u b r o u t i n e s , b u t it may be n o t h i n g more t h a n a RETURN a n d END s t a t e m e n t . MASGEO
i s p r i m a r i l y f o r v a r i a b l e - g e o m e t r y a i r c r a f t ( s u c h as a n o b l i q u e - w i n g or v a r i a b l e -
sweep c o n f i g u r a t i o n ) or f o r m o d e l i n g a i r c r a f t t h a t u n d e r g o s i g n i f i c a n t mass or i n e r -
t i a c h a n g e s o v e r t h e i r o p e r a t i n g r a n g e . The c e n t e r - o f - g r a v i t y p o s i t i o n a n d i n e r t i a s
may be f u n c t i o n s o f f l i g h t c o n d i t i o n or a n y s u r f a c e d e f i n e d i n t h e /CONTRL/ common

57
block. Changes in center-of-gravity position are passed in the /CGSHFT/ common
block, and inertia changes are passed in the /DATAIN/ coinmon block.

Care must be taken when using the subroutine MASGEO in combination with selecti
an observation vector that contains measurements away from the center of gravity.
measurements are desired at a fixed location on the vehicle, such as a sensor plat-
form or nose boom, the moment arm to the new center-of-gravity location must be
recomputed as a result of the center-of-gravity shift for accurate results. This c
be accomplished by implementing the moment arm calculations in one of the user
subroutines and passing the new moment arm values through the /OBSERV/ common block

COMMON /OBSERV/ OBVEC (120), PARAM (120,6)

The common block /OBSERV/ allows the user to access all the observation vari-
ables during trim as well as to pass parameters associated with the observations
back to LINEAR. The common block /OBSERV/ contains two single-precision vectors:
OBVEC(120), and PARAM(120,6). A list of the available observations and parameters
given in appendix C. Access to the observation variables allows the users to imple
ment trim strategies that are functions of observations, such as gain schedules and
surface management schemes. The parameters associated with the observations are us
primarily to define the moment arm from the center of gravity to the point at which
the observation is to be made. If the user subroutine MASGEO is used to change the
center-of-gravity location and observations are desired at fixed locations on the
vehicle, then the moment arm from the new center-of-gravity location to the fixed
sensor location ((x, y, z ) , in feet) must be computed in one of the user subroutine
and passed back in the first three elements of the PARAM vector associated with the
desired observation (PARAM(n = 1 to 3 1 , where n is the number of the desired obserb
tion). Additional information on observations and parameters can be found in the
State, Control, and Observation Variable Definitions section.

CONCLUDING REMARKS

The FORTRAN program LINEAR was developed to provide a flexible, powerful, and
documented tool to derive linear models for aircraft stability analysis and control
law design. This report discusses the interactive LINEAR program, describing the
interfaces to user-supplied subroutines and input files. The output from LINEAR is
also described. Examples of the user-supplied subroutines are presented in appen-
dix J. A microfiche listing of the program for a VAX 11/750 (Digital Equipment
Corporation, Maynard, Massachusetts) with the VMS operating system is included with
this report. The program is written in standard FORTRAN 77 so that it may be porte
to other computers without modification.

The program LINEAR numerically determines a linear system model using nonlinear
equations of motion and a user-supplied nonlinear aerodynamic model. LINEAR is als
capable of extracting linearized engine effects, such as net thrust, torque, and
gyroscopic effects and including these effects in the linear system model. The poi
at which this linear system model is defined is determined either by completely spe
ifying the state and control variables or by specifying an analysis point on a tra-
jectory, selecting a trim option, and directing the program to determine the contro
variables and remaining state variables.

58
II LINEAR h a s several f e a t u r e s t h a t make it u n i q u e among t h e l i n e a r i z a t i o n programs
common i n t h e a e r o s p a c e i n d u s t r y . The m o s t s i g n i f i c a n t of t h e s e f e a t u r e s i s f l e x i -
, bility. By g e n e r a l i z i n g t h e s u r f a c e d e f i n i t i o n s a n d making no a s s u m p t i o n s of sym-
metric mass d i s t r i b u t i o n s , t h e program c a n be applied t o any a i r c r a f t i n any p h a s e
of f l i g h t e x c e p t hover. The u n i q u e t r i m m i n g c a p a b i l i t y , p r o v i d e d by means of a u s e r -
s u p p l i e d s u b r o u t i n e , allows u n l i m i t e d p o s s i b i l i t i e s of trimming s t r a t e g i e s a n d s u r -
f a c e s c h e d u l i n g , which a r e p a r t i c u l a r l y i m p o r t a n t f o r a s y m m e t r i c a l v e h i c l e s and
a i r c r a f t having multiple surfaces a f f e c t i n g a s i n g l e axis. The f o r n u l a t i o n of t h e
e q u a t i o n s of motion permit t h e i n c l u s i o n of t h r u s t - v e c t o r i n g e f f e c t s . The a b i l i t y
t o s e l e c t , w i t h o u t program m o d i f i c a t i o n , t h e s t a t e , c o n t r o l , a n d o b s e r v a t i o n v a r i -
a b l e s f o r t h e l i n e a r models, combined w i t h t h e l a r g e number of o b s e r v a t i o n q u a n t i t i e s
a v a i l a b l e , a l l o w s any a n a l y s i s problem t o be a t t a c k e d w i t h ease.

T h i s r e p o r t documents t h e u s e of t h e program L I N E A R , d e f i n i n g t h e e q u a t i o n s a n d
t h e methods u s e d t o implement t h e program. The trirnming c a p a b i l i t i e s of L I N E A R are
d i s c u s s e d from b o t h t h e o r e t i c a l a n d i m p l e m e n t a t i o n p e r s p e c t i v e s . The i n p u t and o u t -
p u t f i l e s are d e s c r i b e d i n d e t a i l . The u s e r - s u p p l i e d s u b r o u t i n e s r e q u i r e d f o r LINEAR
a r e d i s c u s s e d and sample s u b r o u t i n e s are p r e s e n t e d .

Ames Research Center

Dryden F1 ight Research Facility
National Aeronautics and Space Administration
Edwards, California, November 3, 1987

59
 APPENDIX A: CORRECTION TO AERODYNAMIC COEFFICIENTS FOR A CENTER O F GRAVITY
NOT AT THE AERODYNAMIC REFERENCE POINT

The p o i n t on t h e v e h i c l e a t which t h e n o n l i n e a r f o r c e and moment c o e f f i c i e n t s ai

d e f i n e d i s r e f e r r e d t o as t h e aerodynamic r e f e r e n c e p o i n t . A l l aerodynamic e f f e c t s
a r e modeled a t t h i s aerodynamic r e f e r e n c e p o i n t . Thus, when t h i s p o i n t and t h e
v e h i c l e c e n t e r of g r a v i t y are n o t c o i n c i d e n t , t h e f o r c e s a c t i n g a t t h e aerodynamic
r e f e r e n c e p o i n t e f f e c t i v e l y i n d u c e moments t h a t a c t i n c r e m e n t a l l y on t h e moments
d e f i n e d a t t h e aerodynamic r e f e r e n c e p o i n t by t h e n o n l i n e a r aerodynamic model.

The t o t a l aerodynamic moment M a c t i n g a t t h e v e h i c l e c e n t e r of g r a v i t y i s d e f i n e

as

where

i s t h e t o t a l aerodynamic moment a c t i n g a t t h e aerodynamic r e f e r e n c e p o i n t ( d e n o t e d 1:

s u b s c r i p t a r ) of t h e v e h i c l e ,

Ar = [Ax Ay Az]T

i s t h e d i s p l a c e m e n t of t h e aerodynamic r e f e r e n c e p o i n t from t h e v e h i c l e c e n t e r of
g r a v i t y , and

F = [X Y ZIT

i s t h e t o t a l aerodynamic f o r c e a c t i n g a t t h e aerodynamic c e n t e r where x, y, a n d z ax

t o t a l f o r c e s a l o n g t h e x, y , and z body a x e s . Thus,

La, + Ay Z - AZ Y

M = Mar + AZ X - AX Z

Nar + AX Y - Ay X ,

The t o t a l aerodynamic moment a c t i n g a t t h e v e h i c l e c e n t e r can be e x p r e s s e d i n

t e r m s of t h e f o r c e and moment c o e f f i c i e n t s d e r i v e d from t h e u s e r - s u p p l i e d n o n l i n e a r
aerodynamic modeling s u b r o u t i n e CCALC by d e f i n i n g t h e body a x i s f o r c e s i n t e r m s of
s t a b i l i t y axis force coefficients:

x = ~ s ( - c ,cos a + CL s i n a)

Y = $cy

60
E q u a t i o n s o b t a i n e d by s u b s t i t u t i n g t h e s e e q u a t i o n s i n t o t h e d e f i n i t i o n of t h e t o t a l
a e r o d y n a m i c moment e q u a t i o n a n d a p p l y i n g t h e d e f i n i t i o n s of t h e t o t a l aerodynamic
moments, r e s u l t i n

E x p r e s s i o n s f o r t o t a l a e r o d y n a m i c moment c o e f f i c i e n t s c o r r e c t e d t o t h e v e h i c l e c e n t e r
o f g r a v i t y c a n be d e r i v e d as f o l l o w s :

Az
‘11 = ‘gar +
(-cD s i n a - cL cos a) --
b

Cm = C m a r + Az -
- (-cD COS a + cL s i n a) - Ax (-cD s i n a - CL cos a )
C C

5-i = Cnar + -bAx CY - (-cD cos a + cL s i n a)

T h e s e c a l c u l a t i o n s are n o r m a l l y p e r f o r m e d w i t h i n LINEAR i n t h e s u b r o u t i n e
CGCALC. However, i f t h e u s e r e l e c t s , t h e c a l c u l a t i o n c a n be performed w i t h i n t h e
u s e r - s u p p l i e d a e r o d y n a m i c model CCALC.

61
 APPENDIX B: ENGINE TORQUE AND GYROSCOPIC EFFECTS MODEL

Torque a n d g y r o s c o p i c e f f e c t s r e p r e s e n t ( a f t e r t h r u s t ) t h e main c o n t r i b u t i o n s of
t h e e n g i n e s t o t h e a i r c r a f t dynamics. The t o r q u e e f f e c t s arise due t o t h r u s t vec-
t o r s n o t a c t i n g a t t h e v e h i c l e c e n t e r of g r a v i t y . The g y r o s c o p i c e f f e c t s are a con-
s e q u e n c e of t h e i n t e r a c t i o n of t h e r o t a t i n g mass of t h e e n g i n e a n d t h e v e h i c l e dyna-
mics. T h e s e e f f e c t s can be e i t h e r major or v i r t u a l l y n e g l i g i b l e , d e p e n d i n g on t h e
vehicle.

The t o r q u e e f f e c t s c a n be modeled by c o n s i d e r i n g t h e t h r u s t of a n e n g i n e Fp,

where t h e t h r u s t v e c t o r i s a l i g n e d w i t h the l o c a l x a x i s of t h e e n g i n e a c t i n g a t SOI
p o i n t Ar from t h e c e n t e r of g r a v i t y of t h e v e h i c l e ( f i g . 4 ) .

Figure 4. Definition of location of engine

center of mass (cmi) relative to vehicle center
of gravity.

The t h r u s t v e c t o r f o r t h e i t h e n g i n e Fp c a n be d e f i n e d as
i

a n d FPZ are t h e components o f t h r u s t i n t h e x, y , a n d z body

where F P ~ i J Fpyi, i
axes, r e s p e c t i v e l y . From f i g u r e s 5 a n d 6 it c a n be s e e n t h a t t h e f o l l o w i n g r e l a t i o
s h i p s hold:

F~~~ = -1 Fpi I sin

62
1 where I Fpi r e p r e s e n t s t h e magnitude of t h e t h r u s t due t o t h e i t h e n g i n e , the
I a n g l e f r o m t h e t h r u s t a x i s of t h e e n g i n e t o a p l a n p a r a l l e l t o t h e x-y body a x i s
I
plane, and si t h e a n g l e f r o m t h e p r o j e c t i o n of FPi o n t o t h e p l a n e p a r a l l e l t o t h e
I x-y body a x i s p l a n e t o t h e x body a x i s .

X f

Figure 5. Orientation of the engines Figure 60 Detailed definition of engine

in the x-y and x-z body planes. location and orientation parameters.
D e n o t i n g t h e p o i n t a t which t h e t h r u s t from t h e i t h e n g i n e acts as A r i , this offset
v e c t o r c a n be d e f i n e d as

where Axj, Ayi8 a n d Azi a r e t h e x , y, a n d z body a x i s c o o r d i n a t e s , r e s p e c t i v e l y , of

t h e o r i g i n of t h e i t h t h r u s t v e c t o r .

The t o r q u e due t o o f f s e t f r o m t h e c e n t e r of g r a v i t y of t h e i t h e n g i n e A T is
Oi
t h e n g i v e n by

63
I
The t o t a l t o r q u e due t o e n g i n e s o f f s e t from t h e c e n t e r of g r a v i t y of t h e v e h i c l e -r0
i s g i v e n by

n n
T~ = AT^^ = (Ari x AFp 1
i
i=1 i=1

where n i s t h e number of e n g i n e s .

I F o r t h e case of v e c t o r e d t h r u s t , t h e e q u a t i o n s f o r t o r q u e p r o d u c e d a t t h e v e h i c l t
c e n t e r of g r a v i t y from t h e i t h e n g i n e AT^^
are somewhat more c o m p l i c a t e d . Figure 7
s c h e m a t i c a l l y r e p r e s e n t s a n e n g i n e w i t h t h r u s t v e c t o r i n g whose c e n t e r of g r a v i t y i s
l o c a t e d a t A r i r e l a t i v e t o t h e v e h i c l e ' s c e n t e r of g r a v i t y .

center

Figure 7. Detailed definition of

thrust-vectoring parameters.

The t h r u s t i s assumed t o a c t a t -AXT i n t h e local (engine) x a x i s , with t h e engine

~

c e n t e r of g r a v i t y b e i n g t h e o r i g i n of t h i s l o c a l c o o r d i n a t e system. The t h r u s t i s
a l s o assumed t o be v e c t o r e d a t a n g l e s q i a n d <ir e l a t i v e t o t h e l o c a l c o o r d i n a t e
a x e s , w i t h q i b e i n g t h e a n g l e from t h e t h r u s t v e c t o r t o t h e e n g i n e x-y p l a n e a n d ci
t h e a n g l e from t h e p r o j e c t i o n of t h e t h r u s t v e c t o r o n t o t h e e n g i n e x-y p l a n e t o t h e
l o c a l x a x i s . Thus, l e t t i n g FA F' and F' r e p r e s e n t t h e x, y , a n d z t h r u s t
'Xi* pyi* Pz1
components i n t h e l o c a l e n g i n e c o o r d i n a t e s y s t e m , r e p e c t i v e l y , t h e s e terms c a n be
d e f i n e d i n terms of t h e t o t a l t h r u s t f o r t h e i t h e n g i n e Fpi a n d t h e a n g l e s q i and
51 as
where

To t r a n s f o r m t h i s e q u a t i o n f r o m t h e i t h e n g i n e a x i s s y s t e m t o t h e body a x i s s y s t e m ,
t h e transformation matrix

I
si si sin ci cos si

I
COS E i COS -sin

cos €1 cos 61 cos si sin cos si

L
-sin ~i 0 cos E i

is used.

The r e s u l t a n t force in body a x i s c o o r d i n a t e s is

cos ~i cos S i -sin Si s i n ei cos ti

cos ~i s i n S i cos S i sin cos si

-sin ~i 0 cos E i

so that

F~~~ = I F~~ I (cos o i cos ci cos q cos ti - cos ui sin ci sin si

- sin ni sin cos si)
F
PYi = I Fpi I (COS qi c o s ci cos ci s i n si + cos vi s i n ci cos si
- s i n O i sin ~i cos Si)

FPzi
= I F~~ I (-cos oi cos ci sin ci - s i n qi cos Ei)

The moment arm t h r o u g h which t h e v e c t o r e d t h r u s t a c t s is

a n d t h e t o t a l t o r q u e due t o t h r u s t v e c t o r i n g is

n n

65
 The g y r o s c o p i c e f f e c t s due t o t h e i n t e r a c t i o n of t h e r o t a t i n g mass of t h e e n g i n e s
a n d t h e v e h i c l e dynamics c a n be d e r i v e d f r o m t h e e q u a t i o n f o r t h e r a t e of change of
a n gu l a r moment um ,

T + w x(IeiWei)
g i = hei

where T~~ is t h e g y r o s c o p i c moment p r o d u c e d by t h e i t h e n g i n e , hei

. t h e r a t e of change
o f t h e a n g u l a r momentum of t h e i t h e n g i n e , Iei t h e i n e r t i a t e n s o r € o r t h e i t h e n g i n e ,
wei t h e r o t a t i o n a l v e l o c i t y of t h e i t h e n g i n e , a n d w t h e t o t a l r o t a t i o n a l v e l o c i t y 04
t h e v e h i c l e g i v e n by

I f it is assumed t h a t t h e a n g u l a r momentum of t h e e n g i n e i s c o n s t a n t , t h e n

and the equation s i m p l i f i e s t o

Tgi = 0 x Iei
(
Two terms, Iei a n d we
i' r e m a i n t o be d e f i n e d i n t h e e q u a t i o n f o r t h e gyroscopic
moment p r o d u c e d by t h e i t h e n g i n e . Once a g a i n , s i m p l i f y i n g a s s u m p t i o n s a r e made. 1.
i s assumed t h a t t h e i n e r t i a t e n s o r of t h e e n g i n e c o n t a i n s a s i n g l e n o n z e r o e n t r y ,

*ei i s t h e i n e r t i a of t h e i t h e n g i n e a t t h e l o c a t i o n of t h e i t h e n g i n e ,
where I

o r i e n t e d w i t h t h e local x a x i s c o i n c i d e n t w i t h t h e r o t a t i o n a l v e l o c i t y of t h e e n g i n e
The r o t a t i o n a l v e l o c i t y of t h e e n g i n e h a s components i n t h e x, y , a n d z body a x e s
( P e i f qei, a n d rei' r e s p e c t i v e l y ) so t h a t

- T
Q i - ( P e i qei r e i )

where

66
with I wei I b e i n g t h e t o t a l a n g u l a r v e l o c i t y of t h e i t h e n g i n e .

The e n g i n e i n e r t i a t e n s o r must be d e f i n e d i n t h e v e h i c l e body a x i s s y s t e m a n d a t

t h e v e h i c l e c e n t e r of g r a v i t y . T h i s i s done i n t h r e e steps. The f i r s t t w o steps
involve r o t a t i n g t h e engine i n e r t i a t e n s o r i n t o a coordinate system orthogonal t o t h e
a i r c r a f t body a x i s s y s t e m , w h i l e t h e t h i r d s t e p i n v o l v e s d e f i n i n g t h e e n g i n e i n e r t i a
t e n s o r a b o u t t h e v e h i c l e c e n t e r of g r a v i t y r a t h e r t h a n a b o u t t h e c e n t e r of g r a v i t y
of t h e engine i t s e l f . F i r s t , t h e i t h e n g i n e i n e r t i a t e n s o r i s r o t a t e d t h r o u g h an
a n g l e ~i a b o u t t h e l o c a l y a x i s s o t h a t t h e new i n e r t i a t e n s o r is o r i e n t e d w i t h i t s
l o c a l x-y body a x i s p l a n e p a r a l l e l t o t h e x-y body a x i s p l a n e of t h e v e h i c l e . The
s e c o n d step r e q u i r e s a r o t a t i o n t h r o u g h an a n g l e S i a b o u t t h e l o c a l z a x i s so t h a t
t h e l o c a l x I y I a n d z a x e s are o r t h o g o n a l t o t h e x, y I a n d z body a x e s of t h e
vehicle. A s d e t e r m i n e d by G a i n e r a n d Sherwood ( 1 9 7 2 ) and T h e l a n d e r (1965), t h i s
r o t a t i o n is a s i m i l a r i t y t r a n s f o r m a t i o n t h a t y i e l d s a new i n e r t i a t e n s o r .
:I
1
, SO
that

where R E and R, a r e a x e s t r a n s f o r m a t i o n matrices t h a t p e r f o r m t h e p r e v i o u s l y

d e s c r i b e d r o t a t i o n s t h r o u g h 6 and E, respectively. These matrices are g i v e n as

COS E i 0 sin

REi = 0 1

- s i n &i 0 c o Os E l I

so t h a t

1
cos S i c o s ~i -sin Si cos Si sin E=

sin si c o s ~i cos Si s i n <is i n E=

-sin 0 cos E i

Because

67
and

a n d t h e matrices are u n i t a r y ,

si
cos cos ~i sin Si

cos
cos ci

si
-sin

0
1
Lcos si sin E= sin ti s i n ci cos Ei J

Therefore,

cos2 E i cos2 ti cos2 E= cos ti sin si -cos ~i s i n ~i cos 5

Iei = Ixei
c o s 2 ~icos ti sin si sin2 si cos2 E = - s i n ~i cos sin 6

-cos ~i s i n ~i cos ti -sin ~i cos ~i s i n ci sin2

The a n g u l a r momentum of t h e i t h e n g i n e h i c a n now be e x p r e s s e d as

with

68
Thus, t h e g y r o s c o p i c moment i n d u c e d by t h e i t h e n g i n e T ~ c. a n be expanded t o
1

-
=gi -

a n d t h e t o t a l moment i n d u c e d by gyroscopic i n t e r a c t i o n o f t h e v e h i c l e dynamics a n d

t h e r o t a t i n g e n g i n e components i s

E n g i n e t o r q u e a n d g y r o s c o p i c e f f e c t s are modeled w i t h i n t h e s u b r o u t i n e ENGINE

u s i n g i n f o r m a t i o n p r o v i d e d by t h e u s e r f r o m t h e e n g i n e m o d e l i n g s u b r o u t i n e I F E N G N .
T h e s e e f f e c t s are c a l c u l a t e d as i n c r e m e n t a l moments a n d are i n c l u d e d d i r e c t l y i n
t h e e q u a t i o n s of motion f o r b o t h a n a l y s i s p o i n t d e f i n i t i o n a n d d e r i v a t i o n of t h e
l i n e a r i z e d s y s t e m matrices.

69
 APPENDIX C: OBSERVATION VARIABLE NAMES RECOGNIZED BY LINEAR

T h i s appendix l i s t s a l l o b s e r v a t i o n v a r i a b l e names r e c o g n i z e d by L I N E A R except

f o r s t a t e a n d c o n t r o l v a r i a b l e names. I f s t a t e v a r i a b l e s a r e s p e c i f i e d as e l e m e n t s
i n t h e o b s e r v a t i o n vector, t h e a l p h a n u m e r i c d e s c r i p t o r must c o r r e s p o n d t o t h e names
d e f i n e d i n a p p e n d i x D of t h i s report. When c o n t r o l v a r i a b l e s a r e t o be i n c l u d e d i n
t h e observation v e c t o r , t h e s e v a r i a b l e s must be i d e n t i f i e d e x a c t l y as t h e y w e r e spec-
i f i e d by t h e u s e r .

The i n p u t f i l e i s f o r m a t t e d as shown i n t a b l e 1. The a l p h a n u m e r i c d a t a ( m e a s -

u r e m e n t ) i s l e f t - j u s t i f i e d i n a 5A4 f o r m a t . The f l o a t i n g p o i n t f i e l d s (PARAM) are
u s e d t o d e f i n e s e n s o r locations n o t a t t h e c e n t e r of g r a v i t y . The i n p u t name spec-
i f i e d by t h e u s e r f o r a n o b s e r v a t i o n v a r i a b l e serves b o t h t o i d e n t i f y t h e observation
v a r i a b l e s e l e c t e d w i t h i n t h e program i t s e l f a s well as t o i d e n t i f y o b s e r v a t i o n
v a r i a b l e s on t h e p r i n t e d o u t p u t o f LINEAR.

Observation v a r i a b l e Units Symbol Alphanumeric d e s c r i p t o r s

D e r i v a t i v e s of s t a t e v a r i a b l e s

R o l l acceleration ra d / s ec2 PDOT

ROLL ACCELERATION

P i t c h acceleration ra d / s ec QDOT
PITCH ACCELERATION

Y a w acceleration r a d/s e c2 RDOT

YAW ACCELE RAT1ON

Velocity rate ft/sec2 VDOT

VELOCITY RATE

Angle-of-attack rate rad/sec ALPDOT

ALPHA DOT
ALPHADOT

Angle-of-sideslip rate r a d / se c BTADOT

BETA DOT
BETADOT

Pitch a t t i t u d e rate r a d / s ec THADOT

THETA DOT

Heading r a t e rad/se c PS IDOT

P S I DOT

R o l l a t t i t u d e rate rad/sec PHI DOT

PHI DOT
 O b s e r v a t i o n variable Units Symbol A l p h a n u m e r i c descriptors

D e r i v a t i v e s of s t a t e v a r i a b l e s ( c o n t i n u e d )

A l t i t u d e rate ft/sec HDOT

ALTITUDE RATE

V e l o c i t y north €t/sec X
. XDOT

V e l o c i t y east f t/sec Y
. YDOT
-
Accelerations

x body a x i s AX
acceleration LONGITUDINAL ACCEL
X -AX1 S ACCELERATION
X A X I S ACCELERATION
X-BODY A X I S ACCEL
X BODY A X I S ACCEL

y body a x i s aY AY
acceleration Y-AXIS ACCELERATION
Y A X I S ACCELERATION
Y-BODY A X I S ACCEL
Y BODY A X I S ACCEL
LATERAL ACCELERATION
LAT ACCEL
LATERAL ACCEL

z body a x i s AZ
acceleration Z-BODY A X I S ACCEL
2 BODY A X I S ACCEL

x body a x i s anx ANX

a c c e l e r o m e t e r at X-AXIS ACCELEROMETER
v e h i c l e c e n t e r of X A X I S ACCELEROMETER
gravity

y body a x i s ANY
accelerometer a t Y-AXIS ACCELEROMETER
v e h i c l e center of Y A X I S ACCELEROMETER
gravity

z body a x i s 53 AN Z
accelerometer a t Z-AXIS ACCELEROMETER
v e h i c l e center of Z A X I S ACCELEROMETER
gravity

71
 Observation variable units Symbol Alphanumeric descriptors

Accelerations (continued)

normal acceleration 5
7 an AN
NORMAL ACCELERATION
NOWiAL ACCEL
GS
G'S

*x body axis 4 %x,i =,I

accelerometer not at ANX,I
vehicle center of
gravity

*y body axis 9
accelerometer not at
vehicle center of
gravity

*z body axis 4
accelerometer not at
vehicle center of
gravity

*normal accelerometer 4
not at vehicle
center of gravity

load factor Dimension- n N

less LOAD FACTOR

Air data parameters

Speed of sound €t/sec a A

SPEED OF SOUND

tReynolds number Dimension- Re RE

less REYNOLDS NUMBER

Reynolds number ft-1 Re' RE PRIME

per unit length R/LENGTH
R/FEET
R/UNIT LENGTH

Mach number Dimension- M M

less MACH
AMCH

72
 ~

Observation variable Units Symbol Alphanumeric descriptors

Air data parameters (continued)

Dynamic pressure lb/ft2 QBAR

DYNAMIC PRESSURE

Impact pressure lb/f t2 QC

IMPACT PRESSURE
DIFFERENTIAL PRESSURE

Static pressure lb/f t2 PA

STATIC PRESSURE
FREESTREAM PRESSURE

Impact/ambient Dimension- QC/PA

pressare ratio less QC/P

Total pressure lb/f t2 PT

TOTAL PRESSURE

Temperature deg TEMP

absolute TEMPERATURE
FREESTREAM TEMPERATURE

Total temperature deg TOTAL TEMPERATURE

absolute

Equivalent airspeed knot VEAS

EQUIVALENT AIRSPEED
KEAS

Calibrated airspeed knot VCAS

CALIBRATEU AIRSPEED
KCAS
~~ ~~

Flightpath-related parameters

Flightpath angle rad Y GAM

GAMMA
FLIGHT PATH ANGLE
GLIDE PATH ANGLE
GLIDE SLOPE

F1ightpath g fpa FPA

acceleration FLIGHT PATH ACCEL

Flightpath angle rad/sec

.
Y GAMMA DOT
rate GAMMADOT

73
 Observation variable Units Symbol Alphanumeric descriptors
Flightpath-related parameters (continued)
~~ ~

..
Vertical acceleration ft/sec2 h VERTICAL ACCELERATION
HDOTDOT
H-DOT -DOT
HDOT-DOT

Scaled altitude rate ft/sec ;/57.3 H-DOT/57 3

HDOT / 57.3

Energy-related terms
~~

Specific energy ft ES ES
E-SUB-S
S P E C I F I C ENERGY

Specific power ft/sec PS PS

P-SUB-S
S P E C I F I C POWER
S P E C I F I C THRUST
~

Force parameters

Lift force lb L LIFT

Drag force lb D DRAG

Normal force lb N NORMAL FORCE

Axial force lb A AXIAL FORCE

Body axis parameters

- ~~

x body axis velocity ft/sec U UB

X-BODY AXIS VELOCITY
X BODY AXIS VELOCITY
X-BODY AXIS VEL
X BODY AXIS VEL
U-BODY
U BODY

y body axis velocity ft/sec V VB

Y-BODY AXIS VELOCITY
Y BODY AXIS VELOCITY
Y-BODY AXIS VEL
Y BODY AXIS VEL
V-BODY
V BODY

74
 Observation variable Units Symbol Alphanumeric descriptors

Body axis parameters

z body axis velocity ft/sec W WB

Z-BODY AXIS VELOCITY
Z BODY AXIS VELOCITY
Z-BODY AXIS VEL
Z BODY AXIS VEL
W-BODY
W-BODY

Rate of change of f t/s ec2 U

. UBDOT
velocity in UB DOT
x body axis

Rate of change of ft/sec2 V

. VBDOT
velocity in vn DOT
y body axis

Miscellaneous measurements not at vehicle center of gravity

Rate of change of f t/se c2 W

. WBDOT
velocity in WB DOT
z body axis

*Angle of attack not rad i ALPHA,I

at vehicle center ALPHA INSTRUMENT
of gravity AOA INSTRUMENT

*Angle of sideslip not rad B, i BETA, I

at vehicle center BETA INSTRUMENT
of gravity SIDESLIP INSTRUMENT

*Altitude instrument ft h,i H, 1

not at vehicle center ALTITUDE INST RUMENT
of gravity.

*Altitude rate €t/sec

.
h, i HDOT ,I
instrument not at
vehicle center of
gravity
~

Other miscellaneous parameters

Vehicle total angular sluy-ft2/ T ANGULAR MOMENTUM

momentum sec2 ANG MOMENTUM

Stability axis roll rad/ s ec PS STAB AXIS ROLL RATE

rate

75
 Observation v a r i a b l e Units Symbol Alphanumeric d e s c r i p t o r s
O t h e r m i s c e l l a n e o u s parameters ( c o n t i n u e d )

Stability axis pitch rad/sec 9s STAB AXIS PITCH RATE

rate

S t a b i l i t y a x i s yaw rad/sec rS STAB AXIS YAW RATE

rate

* A l l parameters w i t h a n a s t e r i s k are f o r measurements a t some p o i n t

o t h e r t h a n t h e v e h i c l e c e n t e r o f g r a v i t y . The program L I N E A R u s e s
t h e q u a n t i t i e s defined i n t h e f i r s t t h r e e f l o a t i n g p o i n t f i e l d s as
d e f i n i t i o n s of t h e l o c a t i o n o f t h e s e n s o r w i t h respect t o t h e v e h i c l e
c e n t e r of g r a v i t y . The t h r e e parameters d e f i n e t h e x body, y body,
a n d z body l o c a t i o n s , i n t h a t order, o f t h e s e n s o r . The u n i t s of
t h e s e o f f s e t s from t h e v e h i c l e c e n t e r o f g r a v i t y a r e d e f i n e d i n
u n i t s of f e e t .

+Reynolds number is d e f i n e d i n t e r m s of a n a r b i t r a r y u n i t of l e n g t h
t h a t i s i n p u t by t h e u s e r . This length is input using the f i r s t
-
f l o a t i n g p o i n t f i e l d ; however, i f no v a l u e i s i n p u t , c i s u s e d as t h e
d e f a u l t value.

76
1 APPENDIX D: STATE VARIABLE NAMES RECOGNIZED BY LINEAR

The alphanumeric descriptors specifying state variables that are recognized by

LINEAR are listed in this appendix. In the input file, the field containing these
descriptors uses a 5A4 format, and all characters are left justified. The input
alphanumeric descriptor specified by the user serves both to identify the state
variable selected by the user within the program itself as well as to identify state
variables on the printed output of LINEAR as described in the Output Files section.

state variable Units Symbol Alphanumeric descriptors

-~

Roll rate rad/sec P P

ROLL RATE
Pitch rate rad/sec q Q
PITCH RATE
Yaw rate rad/sec r R
YAW RATE

Velocity €t/sec V V
VELOCITY
VEL
VTOT

Angle of attack rad U ALP

ALPHA
ANGLE OF ATTACK
Sideslip angle rad 8 BTA
BETA
SIDESLIP ANGLE
ANGLE OF SIDESLIP
Pitch attitude rad 0 THA
THETA
PITCH ATTITUDE
Heading rad Y PSI
HEADING
HEADING ANGLE
Roll attitude rad (4 PHI
ROLL ATTITUDE
BANK ANGLE
Altitude ft h H
ALTITUDE
Displacement north ft X X

Displacement east ft Y Y
-

77
 APPENDIX E: ANALYSIS POINT DEFINITION IDENTIFIERS

Analysis point definition options are selected using alphanumeric descriptors.

These descriptors are the first record read for each analysis case. All these
descriptors are read using a 5A4 format. The following list associates the analysis
point definition options with their alphanumeric descriptors:

Analysis point definition option Alphanumeric descriptors

Untrimmed UNTKIhMED
NO TRIM
NONE
NOTRIM

Straight-and-level STRAIGHT AND LEVEL

WINGS LEVEL
LEVEL FLIGHT

Pushover-pullup PUSHOVER AND PULLUP

PULLUP
PUSH-OVE~PULL-UP
PUSH-OVER / PULL-UP
PUSHOVER / PULLUP
PUSHOVER PULLUP
PUSH OVER
PULL UP
PUSHOVER
PUSHPULL

Level turn LEVEL TURN

WINDUP TURN

Thrust stabilized turn THRUST STABILIZED TURN

THRUST LIMITED TURN
FIXED THROTTLE TURN
FIXED THRUST TURN

Beta BETA
SIDESLIP

Specific power SPECIFIC POWER

PS
P-SUB-S

Each of these analysis point definitions except the untrimmed, beta, and specific
power options has two suboptions associated with it. The suboptions are requested
using alphanumeric descriptors read using an A4 format. These suboptions are defined

I 78
in the Analysis Point Definition section of this report. The following list defines
these suboptions and the alphanumeric descriptors associated with each:

Analysis point definition Alphanumeric descriptors

suboptions

Straight-and-level:
Alpha-trim ALP
ALPH
ALPHA

Mach-trim MACH
AMCH

Pushover-pullup:
Alpha-trim ALP
ALPH
ALPHA

Load-factor-trim LOAD
GS
G'S
AN

Level turn:
Alpha-trim ALP
ALPH
ALPHA

Load-factor-trim LOAD
GS
G'S
AN

Thrust stabilized turn:

Alpha-trim ALP
ALPH
ALPHA

Load-factor-trim LOAD
GS
G'S
AN

79
 APPENDIX F: EXAMPLE INPUT FILE

The following listing is an example of an input file to LINEAR. This file was
used with the example subroutines listed in appendix J to generate the analysis and
line printer files shown in appendixes H and I, respectively. The formats specified
in table 1 would be the same whether each type of input has its own file or all of
the data is in one file.

USER'S GUIDE
6.080000E+02 4.280000E+01 1.595000E+01 4.5000003+04
2.8700003+04 1.651OOOE+O5 1~879000E+05-5~20000OE+020. 0.
I 0. 0. 0. CCALC WILL CALCULATE CG CORRECTIONS
-1.000000E+01 4.000000E+01
4STAN RADI
ALPHA
, Q
THETA
VEL
3
ELEVATOR 5
THROTTLE 12
~ SPEED BRAKE 10
2 STAN
AN
AY
-2.900E+00 5.430E+00-4.000E+00 4.000E+00-3~250E+00 3~250E+00-1~000E+00
1.000E+00
I
0 ADDITIONAL SURFACES
I WINDUP TURN
ALPHA
H 20000 .o
MACH 0.90
AN 3.00
BETA 0.0
I NEXT
LEVEL FLIGHT
ALPHA
H 20000.0
MACH 0.9
GAMMA 10.0
END

This input file is €or a case called USER'S GUIDE (record 1). The project title
is input from the terminal as described in the Data Input section. Record 2 speci-
fies the mass and geometric properties of the vehicle as

S = 608 ft2

b = 42.8 ft

80
 c' = 15.95 f t

w = 45,000 l b s

Record 3 d e f i n e s t h e moments a n d p r o d u c t s of i n t e r t i a of t h e v e h i c l e as

I, = 28,700 slug-ft2

Iy = 165,100 slug-ft2

I, = 187,900 slug-ft2

I,, = -520 slug-f t 2

I X Y= 0.0 slug-f t 2

Iyz = 0.0 sl u g - f t 2

Record 4 d e f i n e s t h e l o c a t i o n o f t h e aerodynamic r e f e r ce p o i n t t o be c o i n i d e n t
w i t h t h e v e h i c l e c e n t e r of g r a v i t y o f t h e n o n l i n e a r a e r o d y n a m i c model by s e t t i n g

Ax = 0 . 0 f t

Ay = 0.0 ft

Az = 0 . 0 f t

Record 4 a l s o s p e c i f i e s t h a t LINEAR s h o u l d n o t u s e i t s i n t e r n a l model t o make

c o r r e c t i o n s for t h e o E f s e t i n t h e v e h i c l e c e n t e r of g r a v i t y from t h e a e r o d y n a m i c
r e f e r e n c e p o i n t b e c a u s e t h e aerodynamic model i n c l u d e s s u c h c o r r e c t i o n s .

Record 5 d e f i n e s t h e a n g l e - o f - a t t a c k r a n g e o f t h e a e r o d y n a m i c model.

Record 6 s p e c i f i e s t h a t t h e r e w i l l be f o u r s t a t e v a r i a b l e s i n t h e l i n e a r
model, t h a t t h e fOrmUlatiOn of t h e s t a t e e q u a t i o n w i l l be i n t h e s t a n d a r d form
(2 = A x + B u), a n d t h a t t h e n o n d i m e n s i o n a l s t a b i l i t y a n d c o n t r o l d e r i v a t i v e s w i t h
respect t o a n g l e o f a t t a c k a n d a n g l e of s i d e s l i p s h o u l d be s c a l e d i n r a d i a n s ' l . The
n e x t f o u r records d e f i n e t h e o u t p u t f o r m u l a t i o n of t h e s t a t e v e c t o r t o be

Record 11 s p e c i f i e s t h a t t h e l i n e a r m o d e l w i l l have t h r e e parameters i n t h e

control vector. The f o l l o w i n g t h r e e r e c o r d s ( 1 2 t o 1 4 ) s p e c i f y t h a t

u =
revator
1throttle
speed brake

81
I
l and that elevator, throttle, and speed brake are located in DC(5), DC(12), and DC(10)
of the /CONTROL/ common block.

Record 15 specifies that two observation variables will be used, and that the
observation equation will be in the standard form,

y = Hx + Fu
The next two records (16 and 17) define the elements of the output vector to be

Record 18 specifies the ranges for the trim parameters DES, DAS, DRS, and THRSTX,
used to trim the longitudinal, lateral, and directional axes, and thrust, respec-
tively. The ranges for these parameters are defined by record 20 to be

-2.9 6 DES < 5.43

-4.0 < DAS 6 4.0
-3.25 C DRS < 3.25
-1.0 G THRSTX G 1 . 0

The first three parameters essentially represent stick and rudder positions and are
so specified because of the implementation of the subroutine UCNTRL (discussed in
I app. J). The thrust trim parameter is specified in this manner because of the imple-
I mentation of UCNTRL. Speed brake is scheduled when THRSTX < 0 and thrust is com-
manded when THRSTX > 0.

I Record 19 specifies that no additional control surfaces are to be set.

The next seven records (20 to 26) define an analysis point option. These records
~

request a level turn trim option at

h = 20,000 ft

I4 = 0.9

and

B = 0.00

The second record of this set (record 21) indicates which level turn suboption is
I
requested. The alphanumeric descriptor ALPHA indicates that angle of attack is to be
varied until the specified 3.0-g turn is achieved. The final record of this analysis
point option definition set contains the keyword NEXT to indicate both an end to the
current analysis point option definition and that another analysis point option defi-
nition follows.

82
I The f i n a l s i x records ( r e c o r d s 27 t o 3 2 ) d e f i n e a s t r a i g h t - a n d - l e v e l
point option a t
analysis

h = 20,000 f t

M = 0.9

and

y = 10.00

The s e c o n d record o f t h i s s e t ( r e c o r d 2 8 ) i d e n t i f i e s t h e Alpha T r i m s u b o p t i o n i n

which a n g l e of a t t a c k i s v a r i e d u n t i l t r i m is achieved a t t h e s p e c i f i e d condition.
The f i n a l record o f t h i s set c o n t a i n s t h e keyword END t o i n d i c a t e t h e t e r m i n a t i o n of
t h e current analysis point definition a s w e l l as t h e t e r m i n a t i o n o f i n p u t cases.

83
 APPENDIX G: EXAMPLE L I N E A R I Z E D S T A B I L I T Y AND CONTROL DERIVATIVE F I L E

S T A B I L I T Y AND CONTROL DERIVATIVES FOR CASE #1

L I N E A R I Z E R T E S T AND DEMONSTRATION CASES

FOR THE PROJECT:

F - 1 5 SIMULATION

REFERENCE ALTITUDE = 2.0000D+04

REFERENCE MACH = 9.0000D-01

ANGLES ARE I N RADIANS FOR OUTPUT

WARNING!!!! DERIVATIVES WITH RESPECT TO MACH WILL BE USED.
VELOCITY DERIVATIVES WILL BE COMPUTED FROM MACH DERIVATIVES.

THERE ARE 3 CONTROL SURFACES

ROLL MOMENT DERIVATIVES

CLO -4.02966D-05
ROLL RATE (RAD/SEC) -2.00000D-01
P I T C H RATE (RAD/SEC) .00000D+00
YAW RATE (RAD/SEC) 1.50990D-01
VELOCITY ( FT/SEC 1 -1.26696D-07
MACH NUMBER -1.31375D-04
ALPHA ( RAD .00000D+00
BETA (RAD) -1.33450D-01
ALTITUDE (FT) .00000D+00
ALPHA DOT (RAD/SEC) .00000D+00
BETA DOT (RAD/SEC) .00000D+00

ELEVATOR 5 .00000D+00
THROTTLE 12 .00000D+00
SPEED BRAKE 10 .OOOOOD+OO

P I T C H MOMENT DERIVATIVES

CMO 4.22040D-02
ROLL RATE (RAD/SEC) .00000D+00
P I T C H RATE (RAD/SEC) 3.89527D+00
YAW RATE (RAD/SEC) .OOOOOD+OO
VELOCITY (FT/SEC -3.28490D-06
MACH NUMBER -3.40620D-03
ALPHA ( RAD I -1 - 6 8 8 1 9 D - 0 1
BETA (RAD) .00000D+00
ALTITUDE (FT) .00000D+00
ALPHA DOT (RAD/SEC) -1.18870D+01
BETA DOT (RAD/SEC) .0000OD+00

I ELEVATOR 5 -6.95281D-01
THROTTLE 12 .00000D+00
SPEED BRAKE 10 -4.17500D-0 1

84
YAW MOMENT DERIVATIVES

CNO 2.25747D-04
ROLL RATE (RAD/SEC) -3.37217D-02
PITCH RATE (RAD/SEC) .00000D+00
YAW RATE (RAD/SEC) -4.04710D-01
VELOCITY ( FT/SEC) 3.21400D-07
MACH NUMBER 3 332681)-04
ALPHA (RAD) .OOOOOD+OO
BETA (RAD) 1.29960D-01
ALTITUDE (FT) .00000D+00
ALPHA DOT (RAD/SEC) .00000D+00
BETA DOT (RAD/SEC) .OOOOOD+OO

ELEVATOR 5 .00000D+00
THROTTLE 12 .OOOOOD+OO
SPEED BRAKE 10 .OOOOOD+OO

DRAG FORCE DERIVATIVES

CDO 1.08760D-02
ROLL RATE (RAD/SEC) .OOOOOD+OO
PITCH RATE (RAD/SEC) .00000D+00
YAW RATE (RAD/SEC) .00000D+00
VELOCITY (FT/SEC) .00000D+00
MACH NUMBER .OOOOOD+OO
ALPHA (RAD) 3.72570D-01
BETA (RAD) .00000D+00
ALTITUDE (FT) .00000D+00
ALPHA DOT (RAD/SEC) .00000D+00
BETA DOT (RAD/SEC) .OOOOOD+OO

ELEVATOR 5 4.38318D-02
THROTTLE 12 .OOOOOD+OO
SPEED BRAKE 10 6.49355D-02

L I F T FORCE DERIVATIVES

CLFTO 1.57360D-01
ROLL RATE (RAD/SEC) .00000D+00
PITCH RATE (RAD/SEC) -1.72315D+O1
YAW RATE (RAD/SEC) .00000D+00
VELOCITY ( FT/SEC ) 1.45286D-05
MACH NUMBER 1.50651D-02
ALPHA (RAD) 4.87061D+00
BETA (RAD) .00000D+00
ALTITUDE ( FT .00000D+00
ALPHA DOT (RAD/SEC 1.72315D+01
BETA DOT (RAD/SEC .00000D+00

ELEVATOR 5 5.72950D-01
THROTTLE 12 .00000D+00
SPEED BRAKE 10 3.74913D-02

85
SIDE FORCE DERIVATIVES

CY0 5.32725D-04
ROLL RATE (RAD/SEC) .00000D+00
PITCH RATE (RAD/SEC) .OOOOOD+00
YAW RATE (RAD/SEC) .00000D+00
VELOCITY ( FT/SEC 1 .00000D+00
MACH NUMBER .00000D+OO
ALPHA (RAD) .OOOOOD+OO
BETA (RAD) -9.74030D-01
ALTITUDE (FT) .00000D+OO
ALPHA DOT (RAD/SEC) .00000D+00
BETA DOT (RAD/SEC) .00000D+00

ELEVATOR 5 .OOOOOD+OO
THROTTLE 12 0 0 0 OOD+O 0
SPEED B M E 10 .OOOOOD+OO

86
S T A B I L I T Y AND CONTROL D E R I V A T I V E S FOR CASE # 2
L I N E A R I Z E R T E S T AND DEMONSTRATION C A S E S

FOR THE PROJECT:

F-15 SIMULATION

REFERENCE ALTITUDE = 2.0000D+04

REFERENCE MACH = 9.0000D-01

ANGLES ARE I N RADIANS FOR OUTPUT

WARNING!!!! D E R I V A T I V E S WITH RESPECT T O MACH WILL BE USED.
VELOCITY D E R I V A T I V E S WILL BE COMPUTED FROM MACH DERIVATIVES.

THERE ARE 3 CONTROL SURFACES

ROLL MOMENT D E R I V A T I V E S

CLO 1.25377D-16
ROLL RATE RAD/SEC 1 -2.00000D-01
P I T C H RATE RAD/SEC ) .00000D+00
YAW RATE RAD/SEC ) 1.50990D-01
VELOCITY ( FT/SEC 1 .OOOOOD+OO
MACH NUMBER .00000D+00
ALPHA .00000D+00
BETA -1.33450D-01
ALTITUDE .00000D+00
ALPHA DOT (RAD/SEC) .OOOOOD+OO
BETA DOT (RAD/SEC) .OOOOOD+OO

ELEVATOR 5 .00000D+00
THROTTLE 12 .00000D+00
S P E E D BRAKE 10 0 00 0 0 D+O 0

P I T C H MOMENT D E R I V A T I V E S

CMO 4.22040D-02
ROLL RATE (RAD/SEC) .00000D+00
P I T C H RATE (RAD/SEC) 3.89530D-00
YAW RATE (RAD/SEC) .OOOOOD+OO
VELOCITY ( FT/SEC 1 -7.79749D-10
MACH NUMBER -8.08541D-07
ALPHA ( RAD 1 -1.68819D-01
BETA (RAD) .00000D+00
ALTITUDE (FT) .00000D+00
ALPHA DOT (RAD/SEC) -1.18870D+01
BETA DOT (RAD/SEC) .OOOOOD+00

ELEVATOR 5 -6.95279D-01
THROTTLE 12 -000 0 D+O
0 0
S P E E D BRAKE 10 -4.17500D-01
YAW MOMENT DERIVATIVES

CNO 1.22535D-16
ROLL RATE (RAD/SEC) -3.37217D-02
PITCH RATE (RAD/SEC) .OOOOOD+OO
YAW RATE (RAD/SEC) -4.04710D-01
VELOCITY (FT/SEC) .OOOOOD+OO
MACH NUMBER .00000D+00
ALPHA (RAD) .OOOOOD+OO
BETA (RAD) 1.29960D-01
ALTITUDE (FT) 00 00 0 D+O 0
ALPHA DOT (RAD/SEC) .00000D+00
BETA DOT (RAD/SEC) .OOOOOD+OO

ELEVATOR 5 .OOOOOD+OO
THROTTLE 12 .00000D+OO
SPEED BRAKE 10 .OOOOOD+OO

DRAG FORCE DERIVATIVES

CDO 1.08760D-02
ROLL RATE (RAD/SEC) .OOOOOD+OO
PITCH RATE (RAD/SEC) - 0 0 0 0 0 D+O 0
YAW RATE (RAD/SEC) .00000D+00
VELOCITY (FT/SEC) .00000D+00
MACH NUMBER .00000D+00
ALPHA (RAD) 3.72570D-01
BETA (RAD) .00000D+00
ALTITUDE (FT) .OOOOOD+OO
ALPHA DOT (RAD/SEC) .00000D+00
BETA DOT (RAD/SEC) .00000D+00

ELEVATOR 5 4.38313D-02
THROTTLE 12 .00000D+00
SPEED BRAKE 10 6.49346D-02

L I F T FORCE DERIVATIVES

CLFTO 1.57360D-01
ROLL RATE (RAD/SEC) .00000D+00
PITCH RATE (RAD/SEC) -1.72320D+Ol
YAW RATE (RAD/SEC) .00000D+00
VELOCITY (FT/SEC) 3.59263D-09
MACH NUMBER 3.72529D-06
ALPHA ( RAD 1 4.87061D+OO
BETA ( RAD .00000D+00
ALTITUDE (FT) .000OOD+00
ALPHA DOT (RAD/SEC) 1*72320D+Ol
BETA DOT (RAD/SEC) .OOOOOD+OO

ELEVATOR 5 5.72961D-01
THROTTLE 12 .00000D+00
SPEED BRAKE 10 3.74913D-02
L
SIDE FORCE DERIVATIVES

CY0 4.15737D-16
ROLL RATE (RAD/SEC) .OOOOOD+00
PITCH RATE (RAD/SEC) .OOOOOD+OO
YAW RATE (RAD/SEC) .OOOOOD+00
VELOCITY ( FT/SEC) .00000D+00
MACH NUMBER .00000D+00
ALPHA ( RAD .OOOOOD+OO
BETA (RAD) -9.74030D-01
ALTITUDE (FT) .OOOOOD+OO
ALPHA DOT (RAD/SEC) .00000D+00
BETA DOT (RAD/SEC) .00000D+00

ELEVATOR 5 .OOOOOD+OO
THROTTLE 12 .OOOOOD+OO
SPEED BmKE 10 .OOOOOD+OO

I
I

89
 APPENDIX H: EXAMPLE OUTPUT ANALYSIS F I L E

The following is an example analysis file. This file was produced using the
example input file listed in appendix F and the example user-supplied subroutines
listed in appendix J.

L I N E A R I Z E R T E S T AND DEMONSTRATION C A S E S
~ U S E R ' S GUIDE

STATE VARIABLES

I Q
I
ALPHA

THETA
VEL
= 0.465695D-01
= 0.921683D-01
= 0.159885D-01
= 0.933232D+03
RADIANS
RADIANS/SECOND
RADIANS
FEET/SECOND

CONTROL VARIABLES

ELEVATOR = 0.538044D-01
THROTTLE = 0.214105D+00
S P E E D BRAKE = 0.000000D+00

DYNAMIC INTERACTION VARIABLES

X-BODY A X I S FORCE = 0.134742D+06 POUNDS

Y-BODY A X I S FORCE = 0.102657D+05 POUNDS
2-BODY A X I S FORCE = 0.938155D-03 POUNDS
P I T C H I N G MOMENT = 0.680525D+02 FOOT-POUNDS
ROLLING MOMENT = 0.000000D+00 FOOT-POUNDS
YAWING M O m N T = -.212007D+02 FOOT-POUNDS

OBSERVATION VARIABLES

AN = 0.300163D+01 GS
AY = 0.941435D+00 GS
I A-MATRIX FOR: DX / DT = A * X + B * U + D * V

-0.121436D+01 0.100000D+01 0.136756D-02-0.121605D-03

-0~147423D+01-0~22145lD+Ol~O~45O462D~O2 0.294019D-03
O~OOOOOOD+OO 0.331812D+00 O.OOOOOOD+OO O.OOOOOOD+OO
-0.790853D+02 0.000000D+00-0.320822D+02-0.157297D-01

B-MATRIX FOR: DX / DT = A * X + B * U + D * V

D-MATRIX FOR: DX / DT = A * X + B * U + D * V
0.343642D-07 0~000000D+00 0.737378D-06 O~OOOOOOD+OO 0~000000D+00
0.113192D-06 0~000000D+00-0~242885D-050.605694D-05 0~000000D+00
O~OOOOOOD+OO O~00000OD+00 O.OOOOOOD+OO O~OOOOOOD+OO O~OOOOOOD+OO
0.714203D-03 0.398492D-06 0.332842D-04 O~OOOOOOD+OO O ~ O O O O O O D + O O

H-MATRIX FOR: Y = H * X + F * U + E * V
0*351752D+02 0.277556D-16 0.150046D-02 0.640771D-02
0~000000D+00 0~000000D+00-0~150534D-010.446789D-10

F-MATRIX FOR: Y = H * X + F * U + E * V

E-MATRIX FOR: Y = H * X + F * U + E * V

-0.377037D-07 0~000000D+00-0~214132D-04O~OOOOOOD+OO 0~000000D+00

0~000000D+00 0.222222D-04 O.OOOOOOD+OO O~OOOOOOD+OO 0~000000D+00
0.000000D+00
0.000000D+00

91
 T E S T CASE ................................................ 2
X - DIMENSION = 4 U -
DIMENSION = 3 Y DIMENSION = - 2
STATE EQUATION FORMULATION: STANDARD
OBSERVATION EQUATION FORMULATION: STANDARD

STATE VARIABLES

ALPHA = -.126650D-01 RADIANS

Q = 0.000000D+00 RADIANS/SECOND
THETA = 0.161868D+00 RADIANS
VEL = 0.933232D+03 FEET/SECOND

CONTROL VARIABLES

ELEVATOR = 0.637734D-01
THROTTLE = 0.225092D+00
S P E E D BRAKE = 0.000000D+00

DYNAMIC INTERACTION VARIABLES

X-BODY A X I S FORCE = 0.443769D+05 POUNDS

Y-BODY A X I S FORCE = 0.300494D+04 POUNDS
2-BODY A X I S FORCE = 0.445795D-09 POUNDS
P I T C H I N G MOMENT = -.528481D-11 FOOT-POUNDS
ROLLING MOMENT = 0.000000D+00 FOOT-POUNDS
YAWING MOMENT = 0.114239D-10 FOOT-POUNDS

OBSERVATION VARIABLES

AN = 0.985228D+00 GS
AY = 0.990655D-14 GS

A-MATRIX FOR: DX / DT = A * X + B * U + D * V

0.120900D+01 0.100000D+01-0.575730D-02-0.701975D-04
0.149189D+01-0.22145lD+Ol 0.189640D-01 0.231368D-03
0.000000D+00 0.100000D+01 0.000000D+00 0.000000D+00
0.576868D+02 0.000000D+00-0.316251D+O2-0.460435D-02

5-MATRIX FOR: DX / DT = A * X + B * U + D * V

I 92
1 D-MATRIX FOR: DX / DT + A * X + B * U + D * V

0.934880D-08 0~000000D+00 0.738119D-06 O~OOOOOOD+OO 0~000000D+00

0.307941D-07 0~000000D+00-0~243129D-050.605694D-05 O~OOOOOOD+OO
O.OOOOOOD+OO O.OOOOOOD+OO O~OOOOOOD+OO O~OOOOOOD+OO 0~000000D+00
0.714920D-03 0.000000D+00-0.905497D-05 0.000000D+00 0.000000D+00
O.OOOOOOD+OO
O~OOOOOOD+OO
0~000000D+00
0.000000D+00

H-MATRIX FOR: Y = H * X + F * U

0.350424D+02 0.277556D-16-0.632314D-02 0.203434D-02

0.000000D+00 0.000000D+00 0.000000D+00 0.212306D-16

F-MATRIX FOR: Y = H * X + F * U
0.411323D+01 0.492845D-03 0*263288D+00
0~00OOOOD+OO O ~ O O O O O O D + O O O.OOOOOOD+OO

E-MATRIX FOR: Y + H * X + F * U + E * V

0.102676D-07 0~000000D+00-0~214116D-04O.OOOOOOD+OO O~OOOOOOD+OO

0~000000D+000.222222D-04 O.OOOOOOD+OO O.OOOOOOD+OO O~OOOOOOD+OO
0.000000D+00
O.OOOOOOD+OO

93
 APPENDIX I: EXAMPLE P R I N T E R OUTPUT F I L E

The following listings are printer output files generated by L I N E A R using the
I example input file in appendix F and the example user-supplied subroutines in appen-
dix J.

GEOMETRY AND MASS DATA FOR:

I L I N E A R I Z E R T E S T AND DEMONSTRATION CASES

FOR THE PROJECT:

U S E R ' S GUIDE

WING AREA 608.000 (FT**2 )

WING S P A N 42.800 (FT)
MEAN CHORD 15.950 ( F T )
4 5 0 0 0 .OOO (LB)

I
V E H I C L E WEIGHT
28700.000 (SLUG-FT**2)
IX
IY 165 100.0 00 (SLUG-FT**2 )
I2 187900.000 (SLUG-FT**2 )
I xz -520.000 (SLUG-FT**2 )
IXY 0.000 (SLUG-FT**2 )
I
IYZ 0.000 (SLUG-FT**2)

VECTOR D E F I N I N G REFERENCE P O I N T O F AERODYNAMIC MODEL

WITH RESPECT TO VEHICLE CENTER O F GRAVITY:

DELTA X 0.000 (FT)

DELTA Y 0.000 (FT)
DELTA Z 0.000 (FT)

FORCE AND MOMENT C O E F F I C I E N T CORRECTIONS FROM THE REFERENCE P O I N T O F

THE B A S I C AERODYNAMIC MODEL TO THE V E H I C L E CENTER O F GRAVITY ARE
INTERNALLY CALCULATED I N LINEAR.

M I N I M U M ANGLE OF ATTACK -10.000 (DEG)

MAXIMUM ANGLE OF ATTACK 40.000 (DEG)

PARAMETERS USED I N THE STATE VECTOR FOR:

L I N E A R I Z E R T E S T AND DEMONSTRATION CASES

94
,

1 FOR THE PROJECT:

I U S E R ' S GUIDE

ALPHA
Q
THETA
VEL

THE STANDARD FORMULATION OF THE STATE EQUATION

HAS BEEN SELECTED. THE FORM OF THE EQUATION I S :

DX/DT = A * X + B * U

SURFACES TO BE USED FOR THE CONTROL VECTOR FOR:

L I N E A R I Z E R T E S T AND DEMONSTRATION CASES

FOR THE P R O J E C T :
U S E R ' S GUIDE
LOCATION I N /CONTROL/

ELEVATOR 5
THROTTLE 12
S P E E D BRAKE 10

PARAMETERS USED I N THE OBSERVATION VECTOR FOR:

L I N E A R I Z E R T E S T AND DEMONSTRATION CASES

FOR THE P R O J E C T :
U S E R ' S GUIDE

AN
AY

THE STANDARD FORMULATION O F T H E OBSERVATION EQUATION

HAS BEEN SELECTED. THE FORM OF THE EQUATION IS:

Y = H * X + F * U

LIMITS FOR T R I M OUTPUT PARAMETERS:

MINIMUM MAXIMUM
P I T C H A X I S PARAMETER -2.900 5.430
ROLL A X I S PARAMETER -4.000 4.000
YAW A X I S PARAMETER -3 - 2 5 0 3.250
THRUST PARAMETER -1.000 1.000

NO ADDITIONAL SURFACES TO BE S E T WERE D E F I N E D

95
T R I M CONDITIONS FOR CASE # 1
L I N E A R I Z E R T E S T AND DEMONSTRATION CASES

FOR THE PROJECT:

U S E R ' S GUIDE

LEVEL TURN WHILE VARYING ALPHA

T R I M ACHIEVED

C O E F F I C I E N T OF L I F T - 0.40 144
C O E F F I C I E N T OF DRAG - 0.03058
LIFT ( LBS I = 13474 1.68807
DRAG (LBS 1 - 10265.70661
ALTITUDE (FT) - 20000.00000
MACH - 0.90000
VELOCITY ( FT/SEC ) - 933.23196
EQUIVALENT A I R S P E E D (KTS - 403.42303
SPEED O F SOUND (FT/SEC) -
- 1036.92440
GRAVITATIONAL ACCEL (FT/SEC**2) = 32.11294
NORMAL ACCELERATION (G-S - 3.00163
LOAD FACTOR - 2.99995
DYNAMIC PRESSURE (LBS/FT**2) = 552.05302
DENSITY (SLUG/FT**3 = 0.00126774
WEIGHT ( @ A L T I T U D E ) (LBS) - 44914.60434
BETA ( DEG - 0.03193
ALPHA ( DEG - 2 -66824
PHI ( DEG - 70.62122
THETA ( DEG - 0 -91607
ALTITUDE RATE ( FT/SEC - 0.00000
GAMMA (DEG) - 0.00000
ROLL RATE ( DEG/SEC 1 - -0.0895 1
P I T C H RATE ( DEG/SEC ) - 5 28086
YAW RATE ( DEG/SEC ) - 1.85749
THRUST (LBS) - 10277.03515
S U M O F THE SQUARES - 0.00000

T R I M PARAMETERS

TRIM P I T C H A X I S PARAMETER - -0.66958

TRIM ROLL AXIS PARAMETER - -0 0 1526
TRIM YAW A X I S PARAMETER - -0.02 125
TRIM THRUST PARAMETER - 0.21410

CONTROL VARIABLES

ELEVATOR - 0 05380
THROTTLE - 0 - 214 10
S P E E D BRAKE (DEG) -- 0.00000

OBSERVATION VARIABLES

AN - 3.00163339 GS
AY - .94136286 GS

96
 n n n n n o n n n n n n n n
m o o o o o o o o o o 0 0 0
N 0 0 0 0 0 0 m 0 0 0 0 0 0
w F 0 0 0 0 0 0 0 0 0 0 0 0 0
w v N 0 0 0 0 0 0 * 0 0 0 0 0 0

r o w
0 0 0
1 + 1
n n n
0 0 0
l D O N
m o m
Ec
L,
H
4 r O r O r r * 0 0 r
.
0
. ...
N O *
- O- F
m o m
I

N O N
0 0 0
1 + 1
nnn
0 0 0
- o m
m o m
m o m

0 0 0
0 0 0
r + + +
n 0n 0
0
n
0 0 0 a:
0 0 0 Ec

w
cn
0
...
0
0 0

0 0 0
~~
0
0
cn

a:
V

O r
0 0
+ I
W o n
z
HEc
0 0
0 0
x z o m
v w O F
Ecr:
?7
E2 LD 0-3

m r O r F * O r 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
1 1 + 1 1 1 + 1 + + + ??? dp
m
5nn
0 0 0 m
0 0 0
0 0 0
0 0 0
999
0 0 0
cnz
HE
 MATRIX A USING THE FORMULATION OF THE STATE EQUATION:

DX/DT = A * X + B * U + D * V

FOR CASE # 1
LINEARIZER TEST AND DEMONSTRATION CASES

FOR THE PROJECT:

USER'S GUIDE

ALPHA Q THETA VEL

TIME
DERIVATIVES
WRT:

ALPHA -0.121436D+01 O.IOOOOOD+Ol 0.136756D-02 -0.121605D-03

Q -0.147423D+01 -0.221451D+01 -0.450462D-02 0.294019D-03
THETA O~OOOOOOD+OO 0.331812D+00 0.000000D+00 0.000000D+00
VEL -0.790853D+02 O~OOOOOOD+OO -0.320822D+02 -0.157297D-01

MATRIX B USING THE FORMULATION OF THE STATE EQUATION:

DX/DT = A * X + B * U + D * V

FOR CASE # 1
LINEARIZER TEST AND DEMONSTRATION CASES

FOR THE PROJECT:

USER'S GUIDE

ELEVATOR THROTTLE SPEED BRAKE

TIME
DERIVATIVES
WRT:

ALPHA -0.141961D+00 -0 164948D-02 -0.928933D-02

Q -0.220778D+02 0.543324D-02 -0.135074D+02
THETA O.OOOOOOD+OO O.OOOOOOD+OO 0.000000D+00
VEL -0.105186D+02 0.342817D+02 -0 155832D+02

98
 0 0 0 0
0 0 0 0

0 0 0 0
2
H
0 0 0 0
0 0 0 0
0 0 0 0
il
il
0
a
....
0 0 0 0
0 0 0 0
0 0 0 0

o m o o
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+ I + +
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0 - 0 0
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o m 0 0
....
0 0 0 0
O L D 0 0
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0 0 0 0
m I 1 + 1
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ii comohl
t-coo-
mcooco
P N O N
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w 3 I 0 0 0 0
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0 0 0 0
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0 0 0 0
u
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0 0 0 0
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99
 MATRIX H USING THE FORMULATION OF THE OBSERVATION EQUATION:

Y = H * X + F * U + E * V
FOR CASE # 1
LINEARIZER TEST AND DEMONSTRATION CASES

FOR THE PROJECT:

USER'S GUIDE

ALPHA Q THETA VEL

AN 0.351752D+02 0.277556D-16 0.150046D-02 0.640771D-02

AY 0.000000D+00 0.000000D+00 -0.150534D-0 1 0.446789D-10

MATRIX F USING THE FORMULATION OF THE OBSERVATION EQUATION:

FOR CASE # 1
L I N E A R I Z E R TEST AND D E M O N S T R A T I O N C A S E S

FOR THE PROJECT:

USER'S GUIDE

ELEVATOR THROTTLE SPEED BRAKE

AN 0.412845D+Ol -0.180978D-02 01291699D+OO

AY 0.000000D+00 0.000000D+00 0.000000D+00

100
1
 0 0
+n +n
0 0

0 0
0 0
0 0
0 0
0
0
0 0
..
0
0

0 0
0 0
+n n
+
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5%

101
 TRIM CONDITIONS FOR CASE # 2
LINEARIZER TEST AND DEMONSTRATION CASES

FOR THE PROJECT:

USER'S GUIDE

STRAIGHT AND LEVEL TRIM WHILE VARYING ALPHA

TRIM ACHIEVED

I COEFFICIENT OF LIFT 0.13221

COEFFICIENT OF DRAG 0 00895
LIFT 44376.86258
DRAG 3004.93778
ALTITUDE 20000.00000
MACH 0.90000
VELOCITY 933.23 196
EQUIVALENT AIRSPEED 403.42303
SPEED OF SOUND 1036.92440
GRAVITATIONAL ACCEL 32.11294
NORMAL ACCELERATION 0 a98523

1 LOAD FACTOR
DYNAMIC PRESSURE
DENSITY
0.98803
552.05302
0.00126774
I WEIGHT (@ALTITUDE) 44914.60434
BETA 0.00000
ALPHA -0 72565
PHI 0 .ooooo
THETA 9.27435
I ALTITUDE RATE 162 05403
GAMMA 10.00000
I
ROLL RATE 0.00000
PITCH RATE 0.00000
YAW RATE 0 .ooooo
THRUST 10804.39673
0 .ooooo
I
, SUM OF THE SQUARES

102
I T R I M PARAMETERS

TRIM P I T C H A X I S PARAMETER - -0 79364

' TRIM ROLL A X I S PARAMETER - 0.00000
, TRIM YAW A X I S PARAMETER - 0.00000
TRIM THRUSTPARAMETER - 0 22509

CONTROL VARIABLES

ELEVATOR - 0.06377
THROTTLE - 0.22509
S P E E D BRAKE - 0.00000

OBSERVATION VARIABLES

AN 0.98522771 GS
AY 0.00000000 GS

103
 1 + + + + + + 1 + + +
a C l a a a a a a n a a
+ + +
Clap
1 - 0 0 0 0 0 0 0 0 0 0
0 0 0
m O O O O O O m O O O 0 0 0
w ~ 0 0 0 0 0 0 0 0 0 00
m o o o o o o w o o o
0 0
w u 0 0 0
a & .-??????????
Z 8 w o o o o o o m o o o 0 0 0

r O N
0 0 0
1 + 1
a n n
0 0 0
w o w
m o m
...
N o w
l-ol-
m o m

a a a n a a n ~ l a a a a n n
0 0 0 0 0 0 0 0 0 0 0 0 0 0
w o o o o o l - 0 0 0 0 r o o
1-ooooomoooo m o m
W 0 0 0 0 0 N 0 0 0 0 w o m
3
n
???????????
r O O O O O m O O O O
??P
*OLD

a n a n a a a a a n a
l n o o o o o o o o o o
ggg 3
U H m r ~ o o or m ~ ~ ~ ~ ~
m N 0 r - 0 0 0 m 0 0 0 0 0 0 a:
*
N
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??????????? ???
W
m
3
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8 O O O O r O O O O O O 0 0 0
1 + + + 1 1 1 + + + +
O O C l n Q P Q C l Q Q C l
o o o o m l - 0 0 0 0 0
AAA
0 0 0
w O m O m w N 0 0 l - 0 w o o
o o m o m m w o o a J o N o m
N 0 m 0 w N m 0 0 w 0 m o l -
????4????7? ???
w 0 m 0 w w r 0 0 r 0 w o w
I l l I I I
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85:
0 0 0
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nnn
0 0 0 m
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45:
2%
...
0 0 0
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0 0 0

B
u
w ?--- Y Y

b w
o n
i%H
b 3
W
w wu)
x m 4 H
B - u x
d c-‘”
a w
o m
E 3

104
 MATRIX A USING THE FORMULATION OF THE STATE EQUATION:

DX/DT = A * X + B * U + D * V

F O R CASE # 2
L I N E A R I Z E R T E S T AND DEMONSTRATION CASES

FOR THE PROJECT:

U S E R ' S GUIDE

ALPHA Q THETA VEL

TIME
DERIVATIVES
WRT:

ALPHA -0.120900D+01 0.100000D+01 -0.575730D-02 -0.701975D-04

Q -0*149189D+01 -0.221451D+01 0.189640D-01 0.231368D-03
THETA O~OOOOOOD+OO 0.100000D+01 0.000000D+00 O~OOOOOOD+OO
VEL -0.576868D+02 0.000000D+00 -0*316251D+02 -0.460435D-02

MATRIX B USING THE FORMULATION OF THE STATE EQUATION:

DX/DT = A * X + B * U + D * V

F O R CASE # 2
L I N E A R I Z E R T E S T AND DEMONSTRATION C A S E S

FOR THE PROJECT:

USER'S GUIDE

ELEVATOR THROTTLE S P E E D BRAKE

TIME
DERIVATIVES
WRT:

ALPHA -0.141961D+00 0.448742D-03 -0 e 9 2 8 9 3 2 D - 0 2

Q -0.220778D+02 -0.147812D-02 -0*135074D+02
THETA 0.000000D+00 0 000000D+00 O.OOOOOOD+OO
VEL -0.105186D+02 0.343162D+02 -0.155832D+02

105
 0 0 0 0
+n n
+n+n
+
0 0 0 0

0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0

...
0
00090

0 0 0 0
0 0

o m o o
+
0 0 0 0
I
n n n n
++
o e o o
$
H
0 0 0 0
01d00
X o m o o
V
xa ....
0 0 0 0
01d00
0 0 0 0

LDmom
0 0 0 0
i1+1
n n n n
m m o i -
-n00
w
a
z
.. >
u
0
m
I ....
N
E
0 0 0 0
n I I
w
4
3
+ 2
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3
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M 0 0 0 0
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+
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X M
B -
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e1-09
....
0
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B
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X
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m o o -
0m01-
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5M M
3 w

106
 MATRIX H USING THE FORMULATION O F THE OBSERVATION EQUATION:

Y = H * X + F * U + E * V

F O R CASE # 2
L I N E A R I Z E R T E S T AND DEMONSTRATION CASES

FOR THE PROJECT:

U S E R ' S GUIDE

ALPHA Q THETA VEL

AN 0.350424D+02 0.277556D-16 -0.632324D-02 0.203434D-02

AY 0~OOOOOOD+OO 0.000000D+00 0.000000D+00 0.212306D-16

MATRIX F USING THE FORMULATION O F THE OBSERVATION EQUATION:

Y = H * X + F * U + E * V

F O R CASE # 2
L I N E A R I Z E R T E S T AND DEMONSTRATION CASES

FOR THE PROJECT:

USER'S GUIDE

ELEVATOR THROTTLE S P E E D BRAKE

AN 0.411323D+01 0.492845D-03 0*263288D+00

AY O~OOOOOOD+OO 0.000000D+00 O~OOOOOOD+OO

107
 0 0
+n n
0 0
+
0 0
0 0
0 0
0 0

..
0
0
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0
0

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0 0

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..
z ..
0
0
0
0

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0 0

w
u
&
0
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0 0
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H
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N I

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20
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0 0
LD + I
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1:
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0 0
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& +n +n
0 0

a 3 1 0 0 0 0
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z. z
0 0

0 0
.. ..
0 0
0 0
0 0

zsr
4 4

108
TRIM CONDITIONS FOR CASE # 1
LINEARIZER TEST AND DEMONSTRATION CASES

FOR THE PROJECT:

USER'S GUIDE

LEVEL TURN WHILE VARYING ALPHA

TRIM ACHIEVED

COEFFICIENT OF LIFT 0 -40144

COEFFICIENT OF DRAG 0 03058
LIFT 134741.68807
DRAG 10265.70661
ALTITUDE 20000.00000
MACH 0.90000
VELOCITY 933 23 196
EQUIVALENT AIRSPEED 403.42303
SPEED OF SOUND 1036.92440
GRAVITATIONAL ACCEL 32.11294
NORMAL ACCELERATION 3 -00163
LOAD FACTOR 2 99995
DYNAMIC PRESSURE 552.05302
DENSITY 0.00126774
WEIGHT (@ALTITUDE) 44914.60434
BETA 0 03 193
ALPHA 2 66824
PHI 70 -62122
THETA 0.91607
ALTITUDE RATE 0 .ooooo
GAMMA 0 .ooooo
ROLL RATE -0.08951
PITCH RATE 5.28086
YAW RATE 1.85749
THRUST 10277.03515
SUM OF THE SQUARES 0.00000

109
T R I M PARAMETERS

TRIM P I T C H A X I S PARAMETER -0.66958

TRIM ROLL A X I S PARAMETER -0.0 1526
TRIM YAW A X I S PARAMETER -0.02125
TRIM THRUST PARAMETER 0.21410

CONTROL VARIABLES

ELEVATOR 0 -05380
THROTTLE 0.21410
S P E E D BRAKE (DEG 0.00000

OBSERVATION VARIABLES

AN - 3.00163339 GS
AY - .94136286 GS

V E H I C L E S T A T I C MARGIN I S 3.5% MEAN AERODYNAMIC CHORD STABLE AT T H I S

F L I G H T CONDITION
, TRIM CONDITIONS FOR CASE # 2
LINEARIZER TEST AND DEMONSTRATION CASES

FOR THE PROJECT:

USER'S GUIDE

STRAIGHT AND LEVEL TRIM WHILE VARYING ALPHA

TRIM ACHIEVED

COEFFICIENT OF LIFT 0.13221

COEFFICIENT OF DRAG 0.00895
LIFT 44376.86258
DRAG 3004.93778
ALTITUDE 20000.00000
MACH 0.90000
VELOCITY 933.23 196
EQUIVALENT AIRSPEED 403.42303
SPEED OF SOUND 1036.92440
GRAVITATIONAL ACCEL 32.11294
NORMAL ACCELERATION 0.98523
LOAD FACTOR 0 98803
DYNAMIC PRESSURE 552.05302
DENSITY 0.00126774
WEIGHT (@ALTITUDE) 44914.60434
BETA 0.00000
ALPHA -0 -72565
PHI 0.ooooo
THETA 9.27435
ALTITUDE RATE 162.05403
GAMMA 10 .ooooo
ROLL RATE 0 .ooooo
PITCH RATE 0.00000
YAW RATE 0.00000
THRUST 10804.39673
SUM OF THE SQUARES 0.ooooo

111
T R I M PARAMETERS

TRIM P I T C H A X I S PARAMETER - -0 79364

TRIM ROLL A X I S PARAMETER - 0.00000
TRIM YAW AXIS PARAMETER - 0.00000
TRIM THRUST PARAMETER - 0.22509

CONTROL VARIABLES

ELEVATOR - 0.06377
THROTTLE - 0 22509
S P E E D BRAKE - 0 .ooooo

OBSERVATION VARIABLES

AN - 0.98522771 GS
AY - 0~00000000 GS

V E H I C L E S T A T I C MARGIN I S 3.5% MEAN AERODYNAMIC CHORD STABLE AT

T H I S F L I G H T CONDITION.

112
 APPENDIX J: EXAMPLE USER-SUPPLIED SUBROUTINES

The following subroutines are examples of the user-supplied routines that provide
the aerodynamic, control, engine, and mass and geometry models to LINEAR. These sub-
routines are based on an F-15 simulation and are typical of the routines needed to
interface LINEAR to a set of nonlinear simulation models. These subroutines are
meant to show the use of the named common blocks to communicate between LINEAR and
the user's routines. These subroutines are used with all examples in this report.
Included with this report are microfiche listings of these Subroutines.

Aerodynamic Model Subroutines

The following two subroutines define a linear aerodynamic model. Even though
this model is greatly simplified from the typical nonlinear aerodynamic model, the
example shows the functions of the subroutines ADATIN and CCALC.

SUBROUTINE ADATIN
C
c.... EXAMPLE AERODYNAMIC DATA DEFINITION (OR INPUT) SUBROUTINE
C
c.... ROUTINE TO DEFINE STABILITY AND CONTROL DERIVATIVES FOR THE
C AERODYNAMIC MODEL
C
C
C COMMON BLOCK TO COMMUNICATE AERODYNAMIC DATA BETWEEN THE
C SUBROUTINES ADATIN AND CCALC
C
C
COMMON /ARODAT/ CLB ,CLP ,CLR ,
CLDA ,CLDR ,CLDT ,
CMO ,CMA ,CMQ ,CMAD
CMDE ,CMSB ,
CNB ,CNP ,CNR
CNDA ,CNDR ,CNDT
CDO ,CDA ,CDDE ,CDSB
CLFTO ,CLFTA ,CLFTQ ,CLFTAD,
CLFTDE,CLFTSB,
CYB lCYDA ,CYDR ,CYDT
C
C.... ROLLING MOMENT DERIVATIVES.
C
C STABILITY DERIVATIVES WITH RESPECT TO
C SIDESLIP, ROLL RATE, YAW RATE .
C
CLB = -1.3345 D-01
CLP = -2.0000 D-01
CLR = 1.5099 D-01
C
C CONTROL DERIVATIVES WITH RESPECT TO
C AILERON, RUDDER, DIFFERENTIAL TAIL
C

113
 CLDA = 2.6356 D-02
CLDR = -2.3859 D-03
CLDT = 4.0107 D-02
C
C.... PITCHING MOMENT DERIVATIVES.
C
C STABILITY DERIVATIVES WITH RESPECT TO ANGLE OF
C ATTACK, PITCH RATE, ANGLE OF ATTACK RATE
c
CMO = 4.2204 D-02
C
CMA = -1.6882 D-01
CMQ = 3.8953
CMAD = -1.1887 D+O1
C
C CONTROL DERIVATIVES WITH RESPECT TO
C ELEVATOR, SPEED BRAKE
C
CMDE = -6.9528 D-01
CMSB = -4.1750 D-01
C
c.... YAWING MOMENT DERIVATIVES.
C
C STABILITY DERIVATIVES WITH RESPECT TO
C SIDESLIP, ROLL RATE, YAW RATE
c
CNB = 1.2996 D-01
CNP = -3.3721 D-02
CNR = -4.0471 D-01
C
C CONTROL DERIVATIVES WITH RESPECT TO
C AILERON, RUDDER, DIFFERENTIAL TAIL
C
CNDA = 2.1917 D-03
CNDR = -6.9763 D-02
CNDT = 3.0531 D-02
C
c.... COEFFICIENT OF DRAG DERIVATIVES.
C
C STABILITY DERIVATIVES WITH RESPECT TO
C ANGLE OF ATTACK ...
C
CDO = 1.0876 D-02
C
CDA = 3.7257 D-01

CONTROL DERIVATIVES WITH RESPECT TO

ELEVATOR, SPEED BRAKE

CDDE = 4.3831 D-02

CDSB = 6.4935 D-02
C

114
C.... COEFFICIENT OF LIFT DERIVATIVES.
C
C STABILITY DERIVATIVES WITH RESPECT TO ANGLE OF
C ATTACK, PITCH RATE, ANGLE OF ATTACK RATE
C
CLFTO = 1.5736 D-01
C
CLFTA = 4.8706
CLFTQ = -1.7232 D+01
CLFTAW 1.7232 D+O1
C
C CONTROL DERIVATIVES WITH RESPECT TO
C ELEVATOR, SPEED BRAKE
C
CLFTDE= 5.7296 D-01
CLFTSB= 3.7492 D-02
C
C.... SIDEFORCE COEFFICIENT DERIVATIVES.
C
C STABILITY DERIVATIVES WITH RESPECT TO
C SIDESLIP
C
CYB = -9.7403 D-01
C
C CONTROL DERIVATIVES WITH RESPECT TO
C AILERON, RUDDER, DIFFENTIAL TAIL
C
CYDA = -1.1516 D-03
CYDR = -1.5041 D-01
CYDT = -7.9315 D-02
C
RETURN
END

SUBROUTINE CCALC
C
C.... EXAMPLE AERODYNAMIC MODEL.
C
C... ROUTINE TO CALCULATE THE AERODYNAMIC FORCE AND MOMENT COEFFICIENTS.
C
C COMMON BLOCKS CONTAINING STATE, CONTROL, AND AIR
C DATA PARAMETERS
C
C
COMMON /DRVOUT/ F(13),DF(13)
COMMON /CONTFS/ DC( 30 )
C
COMMON /DATAIN/ S,B,CBAR,AMSS,AIX,AIY,AIZ,AIXZ,AIXY,AIYZ,AIXE
COMMON /TRIGFN/ SINALP,COSALP,SINBTA,COSBTA,SINPHI,COSPHI,
SINPSI,COSPSI,SINTHA,COSTHA
COMMON /SIMOUT/ AMCH,QBAR,GMA,DEL,UB,VB,WB,VEAS,VCAS
COMMON /CGSHFT/ DELX,DELY,DELZ
C

115
 C COMMON BLOCK TO OUTPUT AERODYNAMIC FORCE AND MOMENT
C COEFFICIENTS
C
COMMON /CLCOUT/ CL ,CM ,CN ,CD ,CLFT ,CY
C
C COMMON BLOCK TO COMMUNICATE AERODYNAMIC DATA BETWEEN
C THE SUBROUTINES ADATIN AND CCALC
C
COMMON /ARODAT/ CLB ,CLP ,CLR I

CLDA ,CLDR ,CLDT 1

CMO ,CMA ,CMQ ,CmD t

CMDE ,CMSB ,
CNB ,CNP ,CNR I

CNDA ,CNDR ,CNDT 1

CDO ,CDA ,CDDE ,CDSB ,

CLFTO ,CLFTA ,CLFTQ ,CLFTAD,
CLFTDE,CLFTSB,
CYB ,CYDA ,CYDR ,CYDT
C
C EQUIVALENCE VARIABLE NAMES
C
EQUIVALENCE (T

. (P
(V
(THA
(H
(TDOT
(PDOT
( VDOT
(THADOT
(HDOT
C

C
v2 = 2.0 *v
B2V =B /v2
C2V =CBAR fl2
C
C.... ROLLING MOMENT COEFFICIENT.
C
CL =CLB * BTA +CLDA *DA +CLDR *DR +CLDT *DT
+B2V *(CLP *P KLR *R 1
C
C.... PITCHING MOMENT COEFFICIENT.
C
CM =CMO + CMA *ALP +CMDE *DE +CMSB *DSB
+c2v *(CMQ *Q +CMAD *ALPDOT)
C
C.... YAWING MOMENT COEFFICIENT.
C

116
 CN %NB * BTA +CNDA *DA +CNDR *DR +CNDT *DT
+B2V *(CNP *P +CNR *R 1
C
C.... COEFFICIENT OF DRAG.
C
CD =CDO + CDA *ALP +CDDE *DE +CDSB *DSB
C
C.... COEFFICIENT OF LIFT.
C
CLFT =CLFTO + CLFTA *ALP +CLFTDE*DE +CLFTSB*DSB
+C2v *(CLFTQ *Q +CLFTAD*ALPDOT )
C
C.... SIDEFORCE COEFFICIENT.
C
CY =CYB *BTA +CYDA *DA +CYDR *DR +CYDT *DT
C
RETURN
END

Control Model Subroutine

The following subroutine UCNTRL models the gearing between the control inputs
(that is, trim parameters 6a, 6e, 6r, and thr) and the control surfaces. This pro-
vides LINEAR with a generic interface capable of handling most airborne vehicles.
Figure 8 shows the control system implemented in this example subroutine UCNTRL.

DES -- -__
25.0
5.43
-
-
n
180 -
- de

DAS -- ~
20.0
4.0
-
-- 180n
- * da

I -1.0 I

L p d >
(to IFENGN)
THR

UCNTRL

Figure 8 . Gearing model i n example

UCNTRL s u b r o u t i n e .

117
 SUBROUTINE UCNTRL

C
C.... EXAMPLE TRIM/CONTROL SURFACE INTERFACE ROUTINE.
C
c.... ROUTINE TO CONVERT T R I M I N P U T S I N T O CONTROL SURFACE DEFLECTIONS.
C
C
C INPUT COMMON BLOCK CONTAINING T R I M PARAMETERS
C
COMMON /CTPARM/ DES ,DAS ,DRS ,THRSTX
C
C OUTPUT COMMON BLOCK CONTAINING CONTROL SURFACE DEFLECTIONS.
C
COMMON /CONTRL/ DC(30)
C
C EQUIVALENCE VARIABLE NAMES
C
EQUIVALENCE (DA
(DR
C
DATA DGR /57.29578/
C
c.... CONVERT FROM I N C H E S O F S T I C K AND PEDAL T O DEGREES OF SURFACE.
C
DA =DAS * ( 20.0 / 4.0 )
DE =DES *(-25.0 / 5.43)
DR =DRS *( 30.0 / 3 . 2 5 )
C
c.... S E T D I F F E R E N T I A L T A I L BASED ON AILERON COMMAND.
C
DT =DA / 4.0
C
c.... CONVERT THRUST T R I M PARAMETER TO PERCENT THROTTLE COMMAND.
C
THR = 0.0
IF(THRSTX.GE. 0.0 ) THR =THRSTX
C
c.... USE S P E E D BRAKE I F NEEDED.
C
DSB = 0.0
IF(THRSTX.LT. 0.0 ) DSB =THRSTX*(-45.0 )
C
c.... CONVERT SURFACE COMMANDS TO RADIANS.
C
DA =DA /DGR
DE =DE /DGR
DR =DR /DGR
DT =DT /DGR
DSB =DSB /DGR
I C
RETURN
END

118
 Engine Model Interface Subroutine

The following subroutine IFENGN both defines an engine model and provides the
interface to LINEAR. In normal usage, this subroutine would call subroutines that do
the detailed thrust, engine rotation, and fuel consumption modeling; the information
from these subroutines would be transferred into the /ENGSTF/ common block.

SUBROUTINE IFENGN
C
C.... EXAMPLE SUBROUTINE TO PROVIDE PROPULSION SYSTEM MODEL-
C
C.... ROUTINE TO COMPUTE PROPULSION SYSTEM INFORMATION FOR LINEAR
C
C THIS SUBROUTINE IS THE INTERFACE BETWEEN THE DETAILED ENGINE
C MODELING SUBROUTINES AND LINEAR.
C
C INPUT COMMON BLOCK CONTAINING INFORMATION ON THRUST
C REQUEST TO ENGINE
C
COMMON /CONTRL/ DC(30)
C
C OUTPUT COMMON BLOCK CONTAININGDETAILED INFORMATION
C ON EACH OF UP TO FOUR SEPARATE ENGINES
C
C.... ROUTINE TO COMPUTE ENGINE PARAMETERS:
C
C THRUST(1) = THRUST CREATED BY EACH ENGINE
C TLOCAT(1,J) = LOCATION OF EACH ENGINE IN THE X-Y-Z PLANE
C XYANGL(1) = ANGLE IN X-Y BODY AXIS PLANE AT WHICH EACH
C ENGINE IS MOUNTED
C XZANGL(1) = ANGLE IN X-Z BODY AXIS PLANE AT WHICH EACH
C ENGINE IS MOUNTED
C TVANXY(1) = ANGLE IN THE X-Y ENGINE AXIS PLANE OF THE
C THRUST VECTOR
C TVANXZ(1) = ANGLE IN THE X-Z ENGINE AXIS PLANE OF THE
C THRUST VECTOR
C DXTHRS(1) = DISTANCE BETWEEN THE ENGINE C.G. AND THE
C THRUST POINT
C EIX(1) = ROTATIONAL INERTIA OF EACH ENGINE
C AMSENG(1) = MASS OF EACH ENGINE
C ENGOMG(1) = ROTATIONAL VELOCITY (RAD/SEC)
C
COMMON /ENGSTF/ THRUST (4) ,TLOCAT( 4,3 ) ,XYANGL ( 4 ) ,XZANGL ( 4) ,
TVANXY( 4) ,TVANXZ( 4 ,DXTHRS( 4 ,
EIX(4),AMSENG( 4),ENGOMG(4)
C

119
 C EQUIVALENCE VARIABLE NAMES
C
EQUIVALENCE (THR ,DC(12))
C
C.... ASSUME THRUST PER ENGINE IS HALF VEHICLE WEIGHT.
C
THRUST(l)= 24000.0 *THR
THRUST(2)= 24000.0 *THR
C
C.... LET ALL OTHER PARAMETERS DEFAULT TO ZERO
C
RETURN
END

Mass and Geometry Model

The subroutine MASGEO enables the user to model mass, inertia, and center-of-
gravity changes due to vehicle configuration or mass changes. This particular ver-
sion is simply a RETURN and END statement, because the aircraft that it models is a
fixed-wing vehicle, and any mass changes can be done through the input files or even
interactively. However, this subroutine does provide an elegant way of including a
model of those changes for other a i r c r a f t .

SUBROUTINE MASGEO
I
C
C.... SUBROUTINE TO COMPUTE THE MASS AND GEOMETRY PROPERTIES OF THE
C AIRCRAFT
C
COMMON /CONPOS/ DAP,FLAT,DATRIM,DEP,FLON,DETRIM,DRP,FPRF,DRTRIM,
DSBP,DFP,PLAPL,PLAPR,THSL,THSR
COMMON /CONTRL/ ~ ~ ( 3 0 )
COMMON /DATAIN/ S,B,CBAR,AMSS,AIX,AIY,AIZ,AIXZ,AIXY,AIYZ,AIXE
COMMON /SIMOUT/ AMCH,QBAR,GMA,DEL,UB,VB,WB,VEAS,VCAS
COMMON /DRVOUT/ F( 13),DF( 13)
EQUIVALENCE (T F( 1))t
(P F( 2)),(Q F( 3)),(R F( 411,
(V F( 5)),(ALP F( 6)),(BTA F( 711,
(THA I F( 8)),(PSI I F( g)),(PHI I F(10)),
(H F(II)),('X 8 F(12)),(Y F(13)),
(TDOT ,DF( I)),
(PDOT ,DF( 2)),(QDOT rDF( 3)),(RDOT ,DF( 411,
(VDOT ,DF( 5)),(ALPDOT,DF( 6)),(BTADOT,DF( 7)),
(THADOT,DF( 8)),(PSIDOT,DF( g)),(PHIDOT,DF(IO)),
(HDOT ,DF(11)),(XDOT ,DF(12)),(YDOT ,DF(13))
C
RETURN
END

120
 REFERENCES

Chen, R.T.N.: K i n e m a t i c P r o p e r t i e s of Rotary-wing a n d Fixed-Wing A i r c r a f t i n S t e a d y

C o o r d i n a t e d High-g Turns. AIAA-81-1855, Aug. 1981.

Chen, R.T.N.; and J e s k e , J.A.: K i n e m a t i c P r o p e r t i e s of t h e Helicopter i n C o o r d i n a t e d

T u r n s . NASA TP-1773, 1981.

C l a n c y , L.J.: Aerodynamics. John Wiley c Sons, N e w York, 1975.

Dieudonne, J . E . : D e s c r i p t i o n of a Computer Program and Numerical T e c h n i q u e s f o r

D e v e l o p i n g L i n e a r P e r t u r b a t i o n Models From N o n l i n e a r Systems S i m u l a t i o n s . NASA
TM-78710, 1978.

Dommasch, D.0.; S h e r b y , S.S.; a n d C o n n o l l y , T.F.: A i r p l a n e Aerodynamics, F o u r t h edi-

t i o n . P i t m a n P u b l i s h i n g Company, N e w York, 1967.

Duke, E.L.; A n t o n i e w i c z , R.F.; a n d Krambeer, K.D.: D e r i v a t i o n a n d D e f i n i t i o n of a

L i n e a r A i r c r a f t Model. NASA RP-1207, 1988.

Duke, E.L.; P a t t e r s o n , B.P.; a n d A n t o n i e w i c z , R.F.: User's Manual f o r LINEAR, a

FORTRAN Program t o D e r i v e L i n e a r A i r c r a f t Models. NASA TP-2768, 1987.

E t k i n , Bernard: Dynamics o f A t m o s p h e r i c F l i g h t . John Wiley & Sons, N e w York, 1972.

G a i n e r , T.G.; and Hoffman, Sherwood: Summary of T r a n s f o r m a t i o n E q u a t i o n s a n d Equa-

t i o n s of Motion Used i n F r e e - F l i g h t a n d Wind-Tunnel D a t a R e d u c t i o n a n d A n a l y s i s .
NASA SP-3070, 1972.

Gracey, W i l l i a m : Measurement of A i r c r a f t Speed a n d A l t i t u d e . NASA Rp-1046, 1980.

Kalviste, Juri: F i x e d P o i n t A n a l y s i s Program. NOR 80-165, Northrop Corporation,

A i r c r a f t D i v i s i o n , Hawthorne, C a l i f o r n i a , Nov. 1980.

Kwakernaak, H u i b e r t ; a n d S i v a n , Raphael: L i n e a r O p t i m a l C o n t r o l Systems. Wiley

Interscience, N e w York, 1972.

P e r k i n s , C.D.; a n d Hage, R.E.: A i r p l a n e P e r f o r m a n c e S t a b i l i t y and C o n t r o l . John

Wiley & Sons, N e w York, 1949.

Thelander, J.A.: A i r c r a f t Motion A n a l y s i s . A i r F o r c e F l i g h t Dynamics L a b o r a t o r y ,

FDL-TDR-64-70, Mar. 1965.

U.S. S t a n d a r d Atmosphere, 1962. U.S. Government P r i n t i n g O f f i c e , 1962.

121
 Report Documentation Page
1. Report No. 2. Government Accession No. 3. Recipient's Catalog No.
NASA TP-2835

4. Title and Subtitle 5. Report Date

U s e r ' s Manual f o r I n t e r a c t i v e L I N E A R , September 1988

a FORTRAN Program T o D e r i v e L i n e a r
6. Performing Organization Code
A i r c r a f t Models
H- 1443
7. Author(s1 8. Performing Organization Report No.

R o b e r t F. Antoniewicz, Eugene L. Duke, RTOP 505-66-1 1

a n d B r i a n P. P a t t e r s o n
10. Work Unit No.

9. Performing Organization Name and Address

~

11. Contract or Grant No.

NASA Ames R e s e a r c h C e n t e r
Dryden F l i g h t R e s e a r c h F a c i l i t y
P.O. Box 273, Edwards, CA 93523-5000
13. Type of Report and Period Covered
2. Sponsoring Agency N a m and Address
Technical Paper
N a t i o n a l A e r o n a u t i c s and Space A d m i n i s t r a t i o n
14. Sponsoring Agency Code
Washington, DC 20546

5. Supplementary Notes

A l i s t i n g of t h e program I n t e r a c t i v e LINEAR is provided i n t h e microfiche

supplement i n c l u d e d w i t h t h i s r e p o r t ( 4 s h e e t s t o t a l ) .

6. Abstract

An i n t e r a c t i v e FORTRAN program t h a t p r o v i d e s t h e u s e r w i t h a p o w e r f u l and f l e x -

i b l e t o o l f o r t h e l i n e a r i z a t i o n of a i r c r a f t aerodynamic models i s documented i n
this report. The program L I N E A R n u m e r i c a l l y d e t e r m i n e s a l i n e a r s y s t e m model u s i n g
i o n l i n e a r e q u a t i o n s of motion and a u s e r - s u p p l i e d l i n e a r o r n o n l i n e a r aerodynamic
nodel. The n o n l i n e a r e q u a t i o n s of motion u s e d are six-degree-of-freedom equations
s i t h s t a t i o n a r y atmosphere a n d f l a t , n o n r o t a t i n g e a r t h a s s u m p t i o n s . The s y s t e m
nodel d e t e r m i n e d by LINEAR c o n s i s t s of matrices f o r b o t h t h e s t a t e a n d o b s e r v a t i o n
zquations. The program h a s been d e s i g n e d t o a l l o w e a s y s e l e c t i o n and d e f i n i t i o n of
t h e s t a t e , c o n t r o l , and o b s e r v a t i o n v a r i a b l e s t o be u s e d i n a p a r t i c u l a r model.

7. Key Words (Suggested by Authorfs)) 18. Distribution Statement

A i r c r a f t model Unclassified - Unlimited
Computer program
Control l a w design
Linearization

3. Security Classif. (of this report) 20. Security Classif. (of this page) 21. No. of pages 22. Price

unclassified unclassified 124 A06