مدل‌سازی و شبیه‌سازی دینامیک وسایل نقلیه فضایی، ویرایش دوم (سری آموزش AIAA)

This book unifies all aspects of flight dynamics for the efficient development of aerospace vehicle simulations. Now in its second edition, its purpose is still to provide the reader with a complete set of tools to build, program, and execute simulations. Unlike other books, it uses tensors for modeling flight dynamics in a form invariant under coordinate transformations. For implementation, the tensors are converted into matrices, resulting in compact computer code. The reader can pick FORTRAN templates of missiles, aircraft, or hypersonic vehicles from the complimentary ''CADAC'' CD-ROM to jump-start a particular application, and plot the results of CADAC Studio. It is the only textbook that combines the theory of modeling with hands-on examples of three-, five-, and six-DoF simulations. This new and enlarged edition also serves as anchor for a self-tutoring, three-part course of aerospace simulations in C++, available from AIAA. Amply illustrated with 318 figures and 44 examples, the text can be used for advanced undergraduate and graduate instruction or for self-study. Seventy eight problems and nine projects amplify the topics and develop the material further. Qualified instructors can obtain a complimentary solution manual from AIAA. This second edition contains two new appendices. The original Appendix C, which reviewed state-of-the-art FORTRAN simulations, has been replaced by the description of three self-study CD-ROMs of aerospace simulations in C++. These CDs broaden the applications of this book by spanning from simple three degrees of freedom cruise missiles to high fidelity missiles, aircraft, and hypersonic vehicles. The new Appendix D lays the theoretical foundation of tensor flight dynamics. It contains the proofs of the rotational time derivative and the Euler transformation. Cover......Page 1 Front Matter......Page 2 AIAA Education Series......Page 5 Foreword......Page 6 Preface to the First Edition......Page 7 Preface to the Second Edition......Page 10 Nomenclature......Page 11 List of Acronyms......Page 12 Contents......Page 14 1. Overview......Page 17 1.1 Virtual Engineering......Page 18 1.2 Modeling of Flight Dynamics......Page 20 1.3 Simulation of Aerospace Vehicles......Page 25 References......Page 29 Part I. Modeling of Flight Dynamics......Page 30 2.1.1 Elements of Classical Mechanics......Page 31 2.1.2 Axioms of Classical Mechanics......Page 32 2.1.3 Principle of Material Indifference......Page 33 2.1.4 Building Blocks of Mathematical Modeling......Page 34 2.1.5 Notation......Page 36 2.2 Tensor Elements......Page 37 2.2.1 Coordinate Systems......Page 38 2.2.2 Cartesian Tensors......Page 41 2.2.3 Tensor Algebra......Page 45 2.2.4 Scalar Product......Page 46 2.2.5 Vector Product......Page 47 2.2.5.1 Vector Triple Product......Page 50 2.2.6 Dyadic Product......Page 51 2.3.1 Displacement of Points......Page 53 2.3.2 Straight Line......Page 54 2.3.3 Plane......Page 56 2.3.4 Normal Form of a Plane......Page 58 2.3.5 Plane Projection Tensor......Page 60 2.3.6 Reflection Tensor......Page 61 References......Page 63 Problems......Page 64 3.1 Frames......Page 69 3.1.1.2 Orientation of a Frame......Page 70 3.1.2.1 Heliocentric Frame......Page 71 3.1.2.3 Earth Frame......Page 73 3.1.2.4 Body Frame......Page 74 3.2 Coordinate Systems......Page 75 3.2.1.1 Base Vector Representation......Page 76 3.2.1.2 Direction Cosine Transformation Matrix......Page 78 3.2.1.3 Properties of Transformation Matrices......Page 80 3.2.2.1 Heliocentric and Inertial Coordinate Systems......Page 83 3.2.2.2 Earth Coordinate System......Page 85 3.2.2.3 Geographic Coordinate System......Page 86 3.2.2.4 Body Coordinate System......Page 88 3.2.2.5.1 Cartesian Incidence Angles for Aircraft......Page 90 3.2.2.5.2 Polar Aeroballistic Incidence Angles for Missiles......Page 91 3.2.2.6 Flight-Path Coordinate System......Page 93 3.2.2.7 Local-Level Coordinate System......Page 95 3.2.2.8 Summary......Page 96 Problems......Page 97 4.1 Rotation Tensor......Page 101 4.1.1 Properties of the Rotation Tensor......Page 102 4.1.2.1 Planar Rotations......Page 105 4.1.2.2 Nonplanar Rotation......Page 106 4.1.2.3 General Rotation......Page 107 4.1.2.4 Tetragonal Tensor......Page 110 4.1.3.1 Determination of the Axis of Rotation......Page 111 4.1.4 Small Rotations......Page 113 4.2 Kinematics of Changing Times......Page 117 4.2.1 Rotational Time Derivative......Page 118 4.2.2 Linear Velocity and Acceleration......Page 119 4.2.3.1 Classical Approach......Page 122 4.2.3.2 General Development......Page 123 4.2.4 Euler Transformation......Page 125 4.2.4.1 Properties of Angular Velocities......Page 128 4.3.1 Rotation Tensor Differential Equations......Page 131 4.3.2 Euler Angle Differential Equations......Page 133 4.3.3 Quaternion Differential Equations......Page 135 4.3.3.1 Rotation Quaternion......Page 136 4.3.3.2 Rotation Tensor Quaternion......Page 137 4.3.3.3 Angular Velocity Quaternion......Page 138 4.3.3.4 Differential Equations......Page 139 4.3.3.5 Rotation Tensor......Page 140 4.3.3.6 Summary......Page 141 Problems......Page 143 5.1 Linear Momentum......Page 152 5.2 Newtonian Dynamics......Page 155 5.2.1 Newton's Second Law......Page 156 5.3 Transformations......Page 163 5.3.1 Coriolis Transformation......Page 164 5.3.2 Grubin Transformation......Page 165 5.4 Simulation Implementation......Page 167 5.4.1 Three-Degrees-of-Freedom Simulations......Page 168 5.4.2 Five-Degrees-of-Freedom Simulations......Page 170 5.4.3 Six-Degrees-of-Freedom Simulations......Page 171 5.4.3.2 Flat Earth......Page 172 Problems......Page 174 6. Attitude Dynamics......Page 178 6.1.1 Definition of Moment-of-Inertia Tensor......Page 179 6.1.2.1 Point Displacement Theorem (Huygen's Theorem)......Page 181 6.1.2.2 Parallel Axes Theorem......Page 182 6.1.3 Inertia Ellipsoid......Page 184 6.2.1 Definition of Angular Momentum......Page 186 6.2.2 Angular Momentum of Rigid Bodies......Page 187 6.2.3 Angular Momentum of Clusters of Bodies......Page 189 6.3.1.1 Euler's Law According to Truesdell......Page 194 6.3.1.2 Euler's Law According to Goldstein......Page 195 6.3.2 Free Flight......Page 196 6.3.2.2 Arbitrary Reference Point......Page 200 6.3.3 Top......Page 202 6.3.4 Clustered Bodies......Page 204 6.3.4.1 Mass Centers are Mutually Fixed......Page 206 6.3.4.2 Mass Centers are Translating......Page 208 6.4 Gyrodynamics......Page 210 6.4.1.1 Precession......Page 211 6.4.1.2 Nutation......Page 212 6.4.2 Kinetic Energy......Page 213 6.4.3 Integrals of Motion......Page 216 6.4.3.2 Energy Integral......Page 217 6.4.3.3 Poinsot Motions......Page 218 6.5 Summary......Page 220 Problems......Page 221 7.1 Perturbation Techniques......Page 230 7.2 Linear and Angular Momentum Equations......Page 233 7.2.1 Steady Reference Flight......Page 235 7.2.2 Unsteady Reference Flight......Page 236 7.3.1 Aerodynamic Symmetry of Aircraft and Missiles......Page 239 7.3.1.1 Taylor-Series Expansion......Page 240 7.3.1.2 Configurational Symmetries......Page 241 7.3.1.3 Derivative Maps......Page 245 7.4 Perturbation Equations of Steady Flight......Page 248 7.4.1 Roll Transfer Function......Page 249 7.4.2 Pitch Dynamic Equations......Page 250 7.4.3 Flight-Path-Angle State Equations......Page 253 7.5.1 Aircraft Executing Vertical Maneuvers......Page 254 7.5.1.1 Aerodynamic Expansions......Page 255 7.5.1.2.2 Lateral Equations......Page 258 7.5.2.1 Equations of Motion......Page 260 7.5.2.2 Aerodynamic Cross Coupling......Page 263 7.5.2.3 Aerodynamically Induced Rolling Moment......Page 264 7.5.2.4 Roll/Yaw Inertial Coupling......Page 266 References......Page 267 Problems......Page 268 Part II. Simulation of Aerospace Vehicles......Page 269 8. Three-Degrees-of-Freedom Simulation......Page 270 8.1.1 Cartesian Equations......Page 271 8.1.2 Polar Equations......Page 273 8.2.1 Atmosphere......Page 276 8.2.2 Gravitational Attraction......Page 278 8.2.3 Parabolic Drag Polar......Page 279 8.2.4.1 Rocket Propulsion......Page 284 8.2.4.2 Turbojet Propulsion......Page 285 8.2.4.3 Combine-Cycle Propulsion......Page 286 8.3 Simulations......Page 287 8.3.1.2 Propulsion......Page 288 8.3.1.3 Forces......Page 291 8.3.1.5 Newton's Law......Page 292 8.3.2 ROCKET3: Three-Stage Rocket Simulation......Page 294 Problems......Page 297 9. Five-Degrees-of-Freedom Simulation......Page 300 9.1 Pseudo-Five-DoF Equations of Motion......Page 301 9.1.1 Derivation of the Pseudo-Five-DoF Equations......Page 302 9.1.2.1 Transformation Matrix of Velocity wrt Inertial Coordinates......Page 303 9.1.2.2 Skid-to-Turn Incidence Angles and Rates......Page 304 9.1.2.3 Bank-to-Turn Incidence Angles and Rates......Page 306 9.1.3 More Kinematics......Page 307 9.1.5 Equations of Motion over Flat Earth......Page 308 9.2 Subsystem Models......Page 311 9.2.1 Trimmed Aerodynamics......Page 312 9.2.1.1 Tetragonal Missiles......Page 314 9.2.1.2 Planar Aircraft......Page 315 9.2.2 Propulsion......Page 316 9.2.3 Autopilot......Page 318 9.2.3.1 Acceleration Controller......Page 319 9.2.3.2 Bank-to-Turn Autopilot......Page 323 9.2.3.3 Altitude Hold Autopilot......Page 325 9.2.4.1 Proportional Navigation......Page 327 9.2.4.2 CADAC Implementation of PN......Page 330 9.2.4.3 Line Guidance, Scalar Case......Page 331 9.2.4.4 Line Guidance, Vector Case......Page 333 9.2.4.5 CADAC Implementation of Line Guidance......Page 335 9.2.5 Sensors......Page 336 9.2.5.1 Kinematic Seeker......Page 337 9.2.5.2 Dynamic Seeker......Page 339 9.2.5.4 EO Sensors......Page 0 9.3.1 AIM5 Air Intercept Missile......Page 352 9.3.1.1 Horizontal Engagement......Page 359 9.3.1.2 Vertical Engagement......Page 361 9.3.2 SRAAM5 - Short-Range Air-to-Air Missile......Page 363 9.3.3 CRUISE5 - Cruise Missile......Page 365 References......Page 373 Problems......Page 374 10. Six-Degrees-of-Freedom Simulation......Page 377 10.1 Six-DoF Equations of Motion......Page 378 10.2 Subsystem Models......Page 410 10.3 Monte Carlo Analysis......Page 467 10.3.1 Accuracy Analysis......Page 469 10.3.1.1 Univariate Gaussian Distribution......Page 470 10.3.1.2 Bivariate Gaussian Distribution......Page 472 10.3.2 Winds......Page 475 10.3.3 Turbulence......Page 477 10.3.4 Applications......Page 480 10.4 Simulations......Page 484 10.4.2 GHAME6......Page 485 10.4.3 SRAAM6......Page 487 References......Page 490 Problems......Page 491 11.1 Flight Simulator......Page 496 11.1.1 Workstation Simulator......Page 498 11.1.2.1 Vision System......Page 500 11.1.2.2 Motion System......Page 501 11.1.3 Missile Integration for Combat Simulators......Page 502 11.1.3.1 Air Combat Fundamentals......Page 503 11.1.3.2 Circle Fights......Page 504 11.1.3.3 Prototype Missile......Page 506 11.1.3.4 Fly-out Comparison......Page 507 11.1.3.5 Miss Distance Comparison......Page 508 11.1.3.6 Real-Time Conversion......Page 511 11.2 Hardware-in-the-Loop Facility......Page 513 11.3.1 Building a War Game......Page 515 11.3.2 Conducting a War Game......Page 518 11.3.3 Assessing a War Game......Page 519 References......Page 520 A.1 Matrix Definitions......Page 521 A.2 Matrix Operations......Page 522 A.3 Matrix Eigenvalues......Page 523 Problems......Page 524 Appendix B: CADAC Primer......Page 525 C.2 C++ Architecture and Three-DoF Cruise Missile Simulation......Page 543 C.3 High Fidelity Missile and Aircraft Simulations......Page 544 C.4 Advanced Components of Ascent Vehicles......Page 547 References......Page 549 D.1 Introduction......Page 550 D.2 Derivation of the Rotational Time Derivative......Page 551 D.3 Tensor Property of the Rotational Time Derivative......Page 554 D.4 Euler Transformation......Page 560 References......Page 563 A......Page 564 B......Page 568 C......Page 569 D......Page 572 E......Page 573 F......Page 577 G......Page 579 H......Page 581 I......Page 582 J......Page 584 L......Page 585 M......Page 586 N......Page 589 P......Page 591 R......Page 594 S......Page 597 T......Page 601 V......Page 604 W......Page 605 Z......Page 606 Eagle Hill......Page 607

This book unifies all aspects of flight dynamics for the efficient development of aerospace vehicle simulations. Now in its second edition, its purpose is still to provide the reader with a complete set of tools to build, program, and execute simulations. Unlike other books, it uses tensors for modeling flight dynamics in a form invariant under coordinate transformations. For implementation, the tensors are converted into matrices, resulting in compact computer code. The reader can pick FORTRAN templates of missiles, aircraft, or hypersonic vehicles from the complimentary CADAC4 software to jump-start a particular application, and plot the results with CADAC Studio. It is the only textbook that combines the theory of modeling with hands-on examples of three-, five-, and six-DoF simulations. This new and enlarged edition also serves as the anchor for a self-tutoring, three-part course of aerospace simulations in C++, available from AIAA.

Amply illustrated with 318 figures and 44 examples, the text can be used for advanced undergraduate and graduate instructions or for self study. Seventy-eight problems and nine projects further develop the material.

The second edition contains two new appendices. The original Appendix C, which reviewed state-of-the-art FORTRAN simulations, has been replaced by the description in three self-study CD-ROMs of aerospace simulations in C++. These CD-ROMs broaden the applications of this book, moving from simple three-degrees-of-freedom cruise missiles to high fidelity missiles, aircraft, and hypersonic vehicles. The new Appendix D sets forth the theoretical foundation of tensor flight dynamics, and it contains proofs of the rotational time derivative and the Euler transformation.

Qualified instructors can obtain a complimentary solution manual from AIAA.

Booknews

A textbook for an advanced undergraduate course in which Zipfel (aerospace engineering, U. of Florida) introduces the fundamentals of an approach to, or step in, design that has become a field in and of itself. The first part assumes an introductory course in dynamics, and the second some specialized knowledge in subsystem technologies. Practicing engineers in the aerospace industry, he suggests, should be able to cover the material without a tutor. Rather than include a disk, he has made supplementary material available on the Internet. Annotation c. Book News, Inc., Portland, OR (booknews.com)