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S3-224
l. l. Trimmer and E, l.
I I
YOn Karman Dynamics lity
Inc.
October 1 3
AFSC Program Area 040A
When Government drawings, specifications or other data are used for any purpose
other than in connection with a definitely related Government procurement operation,
the United States Government thereby incurs no responsibility nor any obligation
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regarded by implication or otherwise as in any manner licensing the holder or any
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use, or sell any patented invention that may in any way be related thereto.
AEDC· TDR·63·224
By
L. L. Trimmer and E. L. Clark
von Karman Gas Dynamics Facility
ARO, Inc.
a subsidiary of Sverdrup, and Parcel, Inc.
October 1963
ARO Project No. VT8002
AF· AEDC
Arnold AFS Tenn
AEDC-TDR-63-224
ABSTRACT
PUBLICATION REVIEW
~~~
Darreld K. Calkins
/'~#n"l
) t!9 ~
~J'ean A.' Jack
( ..
/
Major, USAF Colonel, USAF
AF Representative. VKF DCS/Test
DCS/Test
ii
AEDC- TDR-63-224
CONTiENTS
Page
ABSTRACT. . . . ii
NOMENCLATURE. iv
1. 0 INTR ODUCTION 1
2.0 DEVELOPMENT OF THE TRANSFORMATION
MATRICES
2. 1 Roll Transformation Matrix . 2
2. 2 Pitch Transformation Matrix. 3
2.3 Yaw Transformation Matrix 4
2. 4 Multiple Operations. . . . . 5
3. 0 TYPICAL APPLICATIONS
3. 1 Determination of Model Attitude 8
3.2 Transfer of Aerodynamic Forces and Moments. 11
3. 3 Other Applications 14
4. 0 CONCLUDING REMARKS 15
REFERENCES . . . . . . 15
ILLUSTRATIONS
Figure
1. Axes System and Orientation Angle Notation 1
iii
AEDC-TDR-63-224
NOMENCLATURE
A Arbitrary vector
AXn, AYn, AZn Vector components of A directed along the Xn-, Yn-,
and Zn-axes, respectively
FA Axial force, body axes
Fe Crosswind force, wind axes
FD Drag force, wind axes
FL Lift force, wind axes
.FN Normal force, body axes
Fy Side force, body axes
Mx Rolling moment, body axes
\1xw Rolling moment, wind axes
My Pitching moment, body axes
Myw Pitching moment, wind axes
Mz Yawing moment, body axes
Mz w Yawing moment, wind axes
[M] Transformation matrix, subscripts indicate
rotation angles and order of rotation
[M- 1 ] Inverse of transformation matrix
[M'] Transpose of transformation matrix
IMI Determinant of transformation matrix
u, v, w Velocity components directed along the Xn-, Yn-, and
Zn -axeS, respectively
v Free-stream velocity
Xn, Yn, Zn Orthogonal axes, subscript indicates number of
rotational operations performed on axes system
a Angle of attack, angle between the projection of the
wind X-axis on the body X, Z-plane and the body X-axis
ai Indicated pitch angle
ap Sting prebend angle in the body X, Z-plane
iv
A E DC- TD R-63-224
v
A E DC- T D R-63-224
1.0 INTRODUCTION
1fJ
X"--
z
Fig. 1 Axes System and Orientation Angle Notation
1
A E DC· T D R·63·224
The relation between the transformed vector components and the original
vector components is given by
AXl = (1) Axo + (0) Ayo + (0) Azo
( 1)
AYl = (0) Axo + (cos ¢) Ayo + (sin ¢) Azo
AZl Azo
1 o o
(3)
[M¢] ". I0 cos ¢ sin ¢
o -sin ¢ COR ¢
2
A E DC- TD R-63-224
Il/_L_J
Vector A on
X, Z-Plane
AZO
--- .......... /
" ...... j
AZI
AXl Axo
AZI Azo
cose 0 -sine
sin e 0 cos e
3
AEDC·TDR·63·224
AXO
_AXlt',
/
Projection of
Vector A on
X, Y-Plane
AXl fAxo
AYl [MTjJ] IAyo (8)
AZI LAzo
o o 1
4
AEDC-TDR-63-224
AXl Axo
(lOa)
AYl [M¢] I Ayo
AZI Azo
AX2 AXI
(lOb)
AY2 [Me] I AYl
AZ2 AZI
AX3 AX2
(lOc)
AY3 [Mtf] I AY2
AZ3 AZ2
Substitution of Eqs. (lOa) and (lOb) into Eq. (lOc) will eliminate the inter-
mediate axes 1 and 2. Thus, the transformed vector components
AX3, AY3, and AZ3 are obtained directly in terms of the initial vector
components:
Axol
5
AE DC· TDR·63·224
where the transformation matrix [Mt/le¢] is the product of the three basic
transformation matrices. Assuming that [Mt/le¢] has the form
all a1 2 a1 3
a 3l a32 a3 3
(13)
AY3 a2l Axo + a2 2 Ayo + a23 Azo
In combining the basic matrices to obtain the product [Mt/I e¢], the
proper order must be maintained since the transformation matrices are
not commutative. Therefore, [Me] must operate on [Mcp] and their
product [Mecp] is operated on by the matrix [MtjlL The mechanics of
matrix multiplication are given in many texts (e. g., Ref. 3), and an
example should be sufficient here. Let
A B C
( 14a)
[Me]
l: E
H
F
and
~r:
b c
[Mcpl e f ( 14b)
g h
To obtain the element in the i th row and the j th column of the product
[Mecp], form a sum of the products of the elements of the i th row
6
AEOC- TO R-63-224
Aa + Bd + Cg Ab + Be + Ch Ac + Bf + Ci
Ga + Hd + Ig Gb + He + Ih Gc + Hf + Ii
AXn Axo
A Zn Azo
where [M2] operates on [Ml], and [M3] operates on their product [M21],
etc.
Axo AX3
7
AEDC-TDR-63-224
all a2l a 3l
1
[M- tj; e¢] [M'tj;e¢] al2 a2 2 a (19)
32
al3 a 23 a33
8
AEDC-TDR-63-224
v
Fig. 5 Velocity Components and Aerodynamic Angles
9
A EDC- TD R-63-224
[M a1. ] 0 1 0 (24a)
sinai 0 cosai
1 0 0
0 -sincpi cosCPi
.cosap 0 -sinap
[Ma p ] 0 1 0 (24c)
sina p 0 cosa p
L...
Then,
f
cosap cosai
-sina p coscp.1 sina.1
sina p sincp.1
- COSap sina·1
-sinap cosCPi cosa; .
1
[Ma p CPiad sincpi sinai cosCPi sincpi cosai (25)
+ COSa- p cosrf,.
,1
sina.1 +COsa p cosCPi cosa~
10
AE DC- TD R-63-224
-Azo (Cosa p
sina.
Ip
+sina COSA..
'1"1
Cosa.)
1
AY3 Axo (sincpi sinai) +AyO (coscpi) + Azo (sincpi cosai) (26)
-A Z o· (sina p
sina·
IP
- COSa COSA..
'1"1
COSa·1 )
v = V sincpi sinai
(28)
w V (sina p
cosa.
Ip
+cosa COSA..
'1"1
sina.)
1
-1
sin a p
caSa.
Ip
+caSa casA..
'1"1
sina'1 )
a tan -1 W
tan (29a)
u ( cas o-1'_ casa.1 -sina p casA..
'1"1
sina.1
which reduces to
and from Eqs. (22) and (28) the sideslip angle, (3, is
(3 sin -1 ~ sin -1 (sinai sincpi) (30)
With the general use of internal balances in wind tunnel testing, data
are usually obtained in the body axes. Thus, the transformation of body-
axes forces and moments to other axes systems is often required. Two
examples of the application of transformation matrices to force and
moment transfer are presented.
11
A EDC- TD R-63-224
I
- /~/ \
\
AvO
.t>. l// /
V
tAZ2
/I a , /
AX2
AZO
[M_ a ] 0 1 0 (32a)
cos ,8 sin ,8 0
[M,8] (32b)
-sin ,8 cos ,8 0
0 0 1
12
AEDC·TDR·63·224
-sin a o cos a
AY2 Axo (-sin f3 cos a) +AyO cos f3 +Azo (-sin f3 sin a) (34)
(36)
Fe F A sin f3 cos a + Fy cos f3 + FN sin f3 sin a
Azo Mz AZ2 Mz w
13
AEDC-TDR-63-224
then
..., r-
Axo AX2
LAzoJ AZ2
and
Axo AX2 cos f3 cos a + AY2 (-sin f3 cos a) +AZ2 (-sin a)
14
AEDC- TDR-63-224
REFERENCES
15