e—national advisory committee rx? aeronaljtics -/67531/metadc61655/m2/1/high_res… · 1/!2 0.3...
TRANSCRIPT
‘“%-%R5%,.. .., .
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NATIONAL ADVISORY-*—-=- e— ....
‘.43
.,.@-smKEa%%EimCOMMITTEE RX? AERONALJTICS -
ORIGINALLY ISSUEDDecember 1945LIS
Memorandum Report L5L03
ANAIXTICAL IXWESTIGATIOIVOF THE STABILITY OF AN F8F IIROPPI?iG
Langley
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,,. .
MODEL WITE AUl!OMATICSTABILIZATION
By Dorie Cohen.,,,.,.,...:,
,,
,’ ,..
Mamorlel Aeronautical.LaboratoryLangley Field, Va.
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N~cA “..~ A c A LIBPARYLiNGLEyMEhfow AERoNAmIcm
WASHINGTONL~oRATORY
.. .. . .. .. .. . . .-. ,., Langles ~~eld, V&
NACA WARTIME REPORTS are reprints of papers originally issued to provide rapid distribution ofadvance research results to an authorized group requiring them for the war effort. They were pre-viously held under a sectiity status but are now unclassified. Some of these reports were not tech-nically edited. All have been reproduced without change in order to expedite general distribution.
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Calouliticmhave teal made of UM3 stdbility of a fcnm-tentipoalemodelof theWwmnan ~~~,imddf=~e~hpphgtes.ta,underthehfhlenoeof m au&&tio pllotQ 9!w @pee ofautcurmmo pilot .Wre Oc+llsiaereu,aim“pmelnhatlcWlaoneeleotric,bothoauulngtLefleoti@& tiecouxtaml0m5aoeaat a.f-.@xlrate,but .d.ifferlsig.dsatherateOmdl$bld amlin ~. Ro%hpilotsixxAudea follow-upmohaniomd.esi~ to giYOquad~icmal ocmtrd.The caloulatimaooverdlf@mentratiosd cd+ol fm%aoe deflectiontO aiXIPIEUM.ai9pm090hitd aiff~nt mt9f3 Of 00EL*l aOfmOti~,” .- ●
~ bVBBfd@ib3’ @3 ~cb C& ~, ~OOt, ~ &#ld kld ill tb. . .
Selmm” elystmu. . ‘. . ..Reoa&&idationa are itfule as to the codml
b fleth.m”“stability (f the nloael● sane -
. ofypt-rate+ c.**1 errealsoIMlcatd ●....‘.. . .}.. ..!:. ~.:.A::.-..... ..4 ImRmm?mm,..r. .-f, .,
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.A+J-the .mmnmt d We .I’hkal.”lkiz%rdtkaerimntd Waticnu . .oaldit’knp.tivebeearmade& thestabilit#~ota..j?otp+en~q&*- .. .IlloaelaetlieGmwm M@ dqplanewIW.autqtlg pilot,in ordarto . .ds~..the prqperr@e and~dh .* oqdmol tobe qpplle~.. ,
........... ..The* is a conventionallow-wiqf3in@3-seaterdes*g The
fom-tedha male tila = intendedtobe droppeafranocmsiderdblealtitudesfor We pupae of‘obtaihlhgVeriousaerodynamic- e+m@mraldataat hi@ epeeda,Theobjeotat *9 Inve+*tlon W to @@ymimfolluu-~rath8 W serim** rateaWat -4 @able theaw@pikt todabiZize :tie .~ls in attitudewI- in@b&@g emegmlveacceleratiqm.-“&muraoyinnnintahxLngtie~i.@naldirmtiomofflightvaO to be mnaideredsocdleqpto theellminaticm@ tiolentnmtimq UlliohImlldinwEQi&teal?Qbmlme * aataCmdnml i’zxml*flight,
-.—.— .—. .- .—-. —I
TwoUutauatiopil&4J U&e Und& 0041deQ?stl& O& pxmmatioadcm ele@clca10,Ih eaohU3erela a pitoh ~, vith spin axis Vwtiml,_t**ele=*,~aw mtitiitaqdn@sq*l@eral ads of * airpMmY,. qw.Wdng “the ailemm. The eleotrioalpilot InoluaesIn aaaitlcma direotio!lal@xl I’m?operatingtherwlderoItuasplanne&tousetherMder cmlyifa reaeanab~strai@taouraein aam oouldnotbe attainedby uee Of *e aihmna *.
EtMhwe pnemlatioand we:Olactaic EiyfJtemprovideflxBil-zYmemdirol dd’laotiongmeznedby a follow-qpmeohaailml&al@ledto givequasi-proportionalcautrolJ.“that10,th9follow-upeystmnoal16f= .coal- in proporticnlto thedisplamuent6cetheairplanefmm lmerefemnoeattitude.Thisconditim~Is qproaohed,houemr,04yinsofara9 tieflmd ra123aF oontroldefleotimprovidsdby theservo~mhom 1s equalto cm exoeelletherateof diaplaoemmtoalld for bythe follow-upc M generalthisoimdlmtim1s not 8atiafied~ theoau-“trolISnotpmportiomalto theairplanediaplammnt but is appliedat a fired rate.
Ib aottdu the Im ay0taw3differdhieflyin the ratesof ccmtadideflection availableaudthelagaassodatedwit&eaohx. The:S“caloulaticmdemribedhemeincovera reqe at mnm speedeand” “cautml gearingsand.investigatetheeffeotof la@; We *sulthgcodolusloneshould‘be applicableto bo~ eysteune~ - . .. “ “
...
AU ret3uM41m *esaated in the form & nmticmei’olldsig&t”’displaoeamntaof f-a me@uitude- 20° h Wmk and150In:pltoh.qad.yaw - fmm therefexenpeattitude.Witha mnMiear (~tim)cmdzml ayL9tem,an airplanemaymke a stdblsrecoveryflux one..“-:S-(Ustadbquoebut be mable to recoverfiwna lar~ dimslp%ame, In.ordek..$6amim at mme.sortof ccmolueionea9 * a #ati@mtorysystem;theabili~ to recover frau ~ diaturlqnod w ta tboqq ~cifiedwas ib05d9a a aa the Criteric%l for stability● In aaditi(u,merequiremmtof @ aocd.eraticmwas impcmedanda rmpmee meqm8Mer6d Satiefaotcmywhenno.rlolelltmotiom of themxlelworeinvolved.Thusa slowreturnto thereferemoeattitudevasnot0~ia9~a. particularly0bJ90timmm, norwasa hg-ptnml hunthgmotion. W. limit* mlue for tie apoelemtirmwae apeoified,butrathemItwasaamned thatremmmendationsoouldbe madeaa Ixim7thodeof mhimhlng theaoceleraticmeandthattiedemm c- m wae far in applying the reoomenda ticuld ae WE@praotlcal:
Detacmiptlon(XFtheAutunatic Pilot“
%~tiC dia@?amaof thetwoEiyste$moomaidtmed hem ~ l?e-
=O~S i d 2. Them is M essmtialMf’ferenoe b@tkiead’eaoh~f3tem - eleyatbr, Ikilcmm, and in. the e~~.. . .. . .
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‘“ ‘i f* o&ls.a_ tq * rodoawem rotatkmof theow&&’vai+e, &..@mo z+@3&moe8m tit tierefqenoe%he~ ~. 6 franlheoxlglnd.heading~auanmmt pqparkcm altotieoontrol& bctlal.C*veme4, a9 ~ aa the“airpLymheaMng 1s.EUMthat*..6-ie X-; theoo&ol defleotiozlm $r&[email protected] de,ytapcmIlliheadingfx%ithe-mi@na19 Zhefa6tor”d@opcxWad~ .is depahnt
%a @e.”illaiwterd? * $’@ow-~ p*.-@ We,* %weentie”..06M’b** and.thecwl suzWao6L.m,.~~Bh@ld,Qenotedtlyat.eipoqWecuntml swfaoe,ti &Lorbfore the @o ‘reftminitie, *6 at n flmdlrate,pmporticmalOomxol.lEInot aottaally~~la~”
l@ntaim~ *he me
P~ Sforw ein anmysitlv !Qiepmxm~o servonmtorufferaa ~ & pistonSpWdIBfmm O.V b 6*5 mOMI per Bw-, tithuuaeti~luwmtp artqt%e mnotmg “mmmledbeoauoe of themdsoive lag In ~tlcmg !Lbeplstan haEIa 4-IxuMImwel S theao~apeedofdefleott~of tllecm3trol~aoedepexMMm thetotal
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“aatliotlaa to Whl.ohtheccm- mmfaoe
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meotilo mw?m
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(In.) o.ig I .O.m 6●P o●g O&l 2sy3
1/!2 0.3 0J+ “~;5. 0.5 oJk 2.2i 3/4 . . . . liot ~a ●5 197.
.qlro,Ml%r gwiailitiefl an- Mm.*bemeq rimeiw~ d’” si@l ‘d. rmereai
M oaatrol mottomand * tuummt of ooaet- TheseareMf’floulhtoatlCOl?tdXlOXELO~b00aU90~ ti~B ~0~ b OOIl@IM3tidl M* the
tim oooupiedInpamage d thepick-offthrOu@ theH bLrd. Theyalsowry mmsidmxibly‘aqccmdlngto theexlstlngpreaaureleveldthe~atam, dependingcm thedlreotioncardiluraticmd thepreviousEilglal● As dataon theseoharacterlsticswwe notavalld31swhentheoomnputatlcmwerebegun,theInltlaloaloulattcunmileon theGeMralEleotilodlfferantialanalyzercnnlttedthementirely.Tar latemmlmlatlons theexperimentallyiletsrmlndllagdatatabulatedIXl*follovingtablewereuaeds .
- III . .
Pulley PnewlElttoaerva I Eleotilceerwo
** A~yx@nuate Berm upeed, ti .~eeti
(id 0.1$1 o.= 6.5 0.x “.0908 2.35
1/% 1.5 0J3 0.06 0●1.. 3p Hotmeamme ... m ~~ 1’ 1●7 I 085 I a71 .1 A() .1
The mount of ooaatma estlmteiifranWe tleailbed aeoemarytopre-venthum- of the-eervo ayetan la eaoh amdltla. Theme data mpresented in f igtme 3●
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TheOazotuatlmsiptheamplane, uaea. ..-.
n@cRmmmm Cm?m!mma
sctptloied?Wtlon
- baaed on theMmJrizea eguatlonad nmtlcmm thefollowlngfoml:
.-.. Ikmgltumxal .
IA!Lteral.
..The”&niblaued In.& equatdoae are &IHs.u3dailthefrvaltmsin
high-dpeed and(table Iv) ●
L-
lov-speed fld.@tk givenin’ thefollowlng seotlcm
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.—l’ll@*Ccxwtpoawma linlirlwi‘Viluea~
., ... ... ,.fc@ thecaloulatksl ..
A amrflf%hscale.xnlelfor theai@&” hatlbeeitegte~la 4#M3~ af-fmhetioM tunnel,andma “14ft, arag,ad ~t a8uregulredforW 19ta’bllltjcW.Oulatlonawre, titha few exmptlcma,obtained from these taata, !Choretlod oorreotkma were appllml forthe tiect of thepropeller,withwhhh ~. “modelsh testedbutwhiohwillnotbe yuwment la the ilrop teeJta.
S@ol
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v
A
8
M,
P,.....
w
Ikflnltim Highaped
~tiol.lnb -30° ‘
Opeeiialcmgfllght path 850 fpe
aapeot ratio of wing 5.17
~xmamofalrpme . 66A .@ .,
Low~ea .
-w”
Wfi-.
y.l?
lh.2 ft
“39.0 ag ft
. 114.3
o.&$736demlty cd.air, oo3me- O.oolgm .“w- +=--0 d 20,0m ft -. 35,000 ft
“-o p-. =.”&v? ...... : “: .4%.’ “.-“ .-’”-33+ ‘ :- ‘-.’
Ut@#lt d’ alrplam
raalusof ~tmnI.atimalaxlB
.. 1~ Xh ““:’.. ~ lb.!:”
about . 2.965= Q.* ft
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-3 lkf’lnltl.tm.q”. . “.P-.u. .:f’rdctlaMUilepar+m?e ..,. .... %Ine8rlforwa rdspeedw .. . . . . . ..,. v
a .+Wy+-” “J
g Y-.;”&gpCMmzefrCmm6aJl(m...““-m9feremoe)attitude,
....radlaas. “. . .... . . . . . . .a. emd.eat elevator defleo-
. -Im3n (pc!sitlve down)Ineamredmxnlmetrimpositl(xl . .
&?ag Coefficient
rateaechangectdra@co9fflcientwith”an@eof attack W@a
mm Mft Coefflcimlt
rate ofchangee. uftcoeffIcient WIthman@e
. .of attickj ~a, per
..
pitching-mauedcoefflcicmtthdetomttchangeina, permdlab
t Coefficientpltcwlg%lclUena~ to mit rateaf
.- c~eof a,yerradiallpqr aecala
P~=@3--=t -l~f~tduetpunttrata c&.
.“Cllaugeof e,”+@d%ufU.anper.mcmd .. - ..
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Vbrlable,,
0d46
o
Vcrmmi . “ “... .,
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0.026
0
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4,2 ~ b.2
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-o.0Cm4 -0.0225
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Deflnitla” ..*:..
pltohlng—numaut Ooefflalellta~ tO tit tibcmof &e eleva~
an@e cd!lmleallp ,
an@. &beolk
al@eaf yaw : I. . .radiueof ~tlon about
Verticalaxis
X’adlusof ~+itom aboutlmlgltudlnal axis
eu@e @ allercmdal?lec-tiom (po19itivewhenrightaileronla”down)measuredfranthetirlmposition
anglecd!m&3sr deflectim(positivewhentialllngedgeis to tieleftofhinge)
nldeforoecoaefioientamtolmltmlgleofellde- .
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.-0.71.6
.,
Varllmes “
. .
“3.(E?ft ““” ‘ 3.@ ft.. .
1.60ft ‘ ““ l.a ft ““
Vaxlable
1
Variable/
-o.= ..””-0.401
/slip,per-an /
Yay4glgue&ooef’f&o~@lt yao’736 om%‘.
. . .
aldmllp”,per radlhn .* .”’ ,.. ..,.. . . “ .“-
mhg-mfmemt meff$oient - -o+woo187 “o - ““””duetomlt rate& .rolllng, per radim ,.-
. ., pa aeodtt“., .“ . .
~ %is%2t%v:=t
-ODOO*.o.&* ‘“”. , ...
y-J-r-m= “ .,. ” .“. 13euoald
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I
10
.’ Z!mraRg-conolldeil
Ikardtiicm
-~ t Ooef$iolmt
duetounlt aileron&-fleotmn,perraala!l
Lou Opeea
o
-000453 -o.ok53Pw —malwult cOaEFlclentdueto unitmddm de-flection,perZwmxl
=ll~t o-i~~-*duetomltenglsofS“ideellp,perIxiUan
ro~lng-lmomentcoe&iolant- ~mto tit rateof
roll.lng, per radlati per
-0.0620 -o●W96
-O.(EXL-0000309
Eleoonil-
trdling—molmndueto mlt
:VJ P=
-MOcw7 “ oCoefffolentratecdraitiauper
inefficientaileron
.
-o.146 -0.146.rollmJ@xmsnt
duetolmlt
pm Z’adwldeflectim- d eaohailercm. .
deflection,
...
Meiaod& Ca3Milatlng me M3ticme
The largerpwt d tie mloulatltane Vae Oam?teaout m theGeneralEleotzicMfferentlslmml.yzer.(Fora.deso@ptlonof the“analyzer,.seerefemmoe1.) As hasbean8wi0a, thesemlculatlomsanlttedtiecansidaratlanM eithertimelagor servocoast. mey showd, however,theeffectof tieotherpazamtem 8,K, andthebad band..
TherelatimsBetup a thedifferentialanalyzerV&i theequationsofmtion sndthetwoadditionalrelations8 = +&t and 8 = -&t,Were by b Ismeent‘thedbsolutenw@tude of therateof omtrol-surfaoedefleotlm. Thequsntlm (0- Z@ C),repxmmtlng thedevlat$a@ theairplaneheadingfranthead@Med zwfprenoe“(thatis,theaw?wemoas determinedby & cdxit-surfaoe..defleotl~endfollow-m),~ared
I. . .— -—-
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= a Oamcm thrm@amt uleoalQulatluls. Where p-8/Jsi ‘ ‘-.- the lm@mtae Of the..apaabei!!a,, ”8
- -tam toMluoe Ie : ,~~~.?&g= =“.’.* deM WMl, 8 - kept Oamutant. Tlp l@oulatlcullY W?&e-Mtlaw(llw~atiueti e WffereSrtfiWIILZeXb;a8deaO=lHin*-lntrodmtlca, -by oaualng theapplloatZond omtmlo
“. .,- *- . .
!che~uee’alatbe mm---is m-m-m -lmlatamil mileto aetemnlm the dYeot & * 1P mywwat Mff”-t @am that Just
&ao&lbe& a IMo”oase theUalouliltiala’”imebd$d’;al+e ieqhme ac““*O air@xte toaxmnuea Udplabemat of Uie OaitxwE’-alle●t we
=tO 6 -S pSF S-.:=8 ~~s ,.~ *?f e~i-. W. ~
e -80 + 91 (t) ~ 131.(t ‘- tl) -%’1{t”-’:qj:+ #l”(t - ts) : .. . .,.
.... ... . . ,. -“:..:-:-..> . . .. .... .......
lf .tha. Olgntsllare’ver6e&ti:asrebtllnl‘b@oh ~fQEa. @j--F@f altpP@!B8. I?mathe.lleatlM, -----.. ..;...! ..’ . ~ :.... ::
,1. . . . ,, .,..1. :, .. . . .... .. . . . .
—. -.——..— .
,-
l? m Eo. I15U13..
In thaw cases, the allermimotim Is byno .3m&h Cm&lW 4s’dleplamlmntft Is IIlteulded* Ccm?ect● R’mther.‘J...‘“fredqetknY& theg=uxlngb. 1P” (fig=7).:Mgm3mm$be -e -.mh::s-t. and,remltaIn a stablenntlcq Inprqqqlqj.&a.at thla..po~t..... .. .. . .reeultfilin-stillfm’’ulerInqpmwnt, with.the alltmqmaverynearlJh.phat3eWithWe airplanemtldl UheJlba * P pOZ’SeCOEidO (- this?lWtliX4,{hbW8VWi,Wlti -t Of figm5, UtMZW $a 16 tiSC equal tO3° p- eectmd,but K = l~o)
eotofwedeatlbem ,-wherem lno’wmw stabilized,as In&e c86eS& f ~~’b:”y$ * f ~.~= (%- x f= & = 3°~ 8~~)waa a Bteadghuntingof mplltudeonlyeM@ly largerthanthatof tiedeadband. Thishuntingma not ccmsidemdtobe undesirablylarge,In viewcd theob~t cd!thq,[email protected],thedeadbed muld&Mlnarllybekepttca minlmuK incwder tsmSnlmlze the hunting. -this caee, hmever, itwae thou@+.tit, alnceWe deadband~eda oertalnaummt d leadinto tie s@al, lncreaeingthedeadband&cve tiemlnlmnnwwldbeametbdct We stabill@● Inflgwm e, the une~ble motionM f - l.y per SecculdW... .Caqpm@ with.*9 mcticmreauitixig frcxnincreasingthedeadband byafa@or of M c It 1s seen”thatthere16, Infact,a mtddliz~ tieqb,but it Is 80 alight that fw any- le ~e In.&ad bendWeed?l%otvouldbe ne@i@ble.
..
MR No. rmLo3 ‘ u ““
tmld!lwzw‘ on ae baoio C&we aapyzer OeKLoulatlone,tiratesd ?allermatm.eotioalar30per6eoodl were”.,
tentatlmly” yb”tea #* reo ~tlon.. .“ .“, . .. . . .. ....... . ,
..-. The&ad”b@lu&smmmati3bewi4%xr&mm.nt, iaot’der.mattbeaeu’vOooa8twolll&xwtoJ3rryth@oh3fft&M@li*. “
It la eeeathatalthou# %heeta?Jffl@1sredw~ alxmt20 pez?oent -byi41eooa6tdtheservolUotor,thex@loMl,@tinotllEe la&16 stillaatltiao~o A G lagM mush ae.O&j moond, however>.oaus@athe. “Oontmlmo$lomtibeolloe- goooutufphasewlth # (9dLYemulteIn inetablll~● AninterMllate tiluelagaeod)3 aeOOllaormreluxald ~X4 aleo be unsatisfao~... .. .%.,.
. On I& bade & 1A previoue reeuda It a~earecl ~aess~ toredtietheratio IC etlllfurther.-lll.fqireloeehoull timmotlom . .“.reeultlngfranreiblngtievalw d K tol/Eo Mcmeoasetherdwd motion Of.w dlercmstmaaemmdltoba ~m ~-aeod oaae,* .yalw.x & me &ubled.m!l!herednotlcmIn-K ~bved ..euffiolentto &fee% * htablllzlng effeot@ thelag, N %efore,wI* stdbllltwewxuwd by thezwduotion@ follow-~ratio,.an lnozwa6@;.’m h resultedlnfurtherhpzwawnt of U’le.lwt?ml.IhielillprQvEUUantm;wae dbtalnedM spiteof thefaotthattheammt a? ooaatlng-s almaawx3& to%ave Qodbl.ekl. .. ..-.--,
“:Zkl.f@lx#LO is ehom also tale WMou amll.abd for A 10wt3pe&Ocilmmi Wlw’ E- l/M ad ~“- y per 13eocd,10 @ ooa9t.“:dl 0.3.5 Seoalalag. me mtlml 10 8een”to be aamrely eatlsfaoq... ..
DDzlo am & rea’lalte.-.&l a remllt d? the %mlow.attainitq O&K$luibilUat AtiookxHioShcnihlzU3t exoeedloaf’allerultowof *dlaplaotiln bank. Thesezwoaotlxrspeedaho’uldbelnwh*tti-ailerons -tidefleote dat!l.eaatwa seocuiih El@u3mratea otailemn:aefleotion arepreferlibls lf the Mrvokydieduoenbenwletopqr$cmn ‘.”.aatlefao@Qmy●
..,.. . .,.. .1. ,
b alae~tikmsf ** 1,,It~~,a9 lleolgnedmea * ilm.lde.wlelowvalmin rollc S-e K D K1~, ..#exmoeeaary.re@*on ti K omld be *dtharln thefollw-upe~ oirln-pw13igoftheMl&rcm9 ‘.iothe .pieltm.The lattcmOhangelmuld,cm Ocnlree,redlzoetiemte d dlermlilefleoticmmmlldble,but this~t u alreadyfarm thania medd.Thetotl nallmvntravelwnild aulobereulwea.
li ‘ mREiY.L5M3”
. . . . .. .. .. . , .’
Eeleotadandftxell,e ndohanges inthektloar ~ II)e Weremade’
,The cmmm ehownaretierecoverleafroaiem initial kiai&b&oe”iii*tohof U“. Aa in”ihe”oaaeid We Ailekme’.’’wledad bendwas,adJwtea illaoaordabbevlthtablsII..~ti ~. sm.awl~; Eleti-osoxkltltion.,lnthe:au@pilOtnkqhan3amD ‘“”” ,:. . . .. , ..... l“’... ...’ .. . .... ..L . ..
5. results.bftheCMc!ulatloailCalittlngk, a.m..* ~.w” .33to 13,indloatethat,mllke thelateralnmtion,the.@@tw mtton.Is tit”oritio~ d’fectedby thefollow-~ratioIn =“ ~ lwestigated.A xxe s@@Floewt”facta .1stherate.0$?eleva~ def.~otlpdwhlc~ a#lnunlike”thelateralWe, isrequiredtobe keptmall id,- to amtilthehl@ ~oelemtim aasooiatedwiththeehoR.+pe@d beoiHallima,.-It ehouldbe notedthatthestablll~ianot a wbti h thiscase.”“m’ “all“exmdlmktlch.oftherepulta,It waa cmoluded“-t a rateof oomtmoldetleotian of &”= 2.5? per eeoqid wuqld,llqt lead b exoemiva %eoeM3r-atlm, whilepzynldlng,qt.thes- t$nw,U@Pioiti oonirol.““fnthepull-t’qpo●
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MmLomB lath iaa.- ‘ha ahom Sri *MJ 1, We Atlc aQ~ motor,wltiWe .mntqq#latedelevator.@@rig, pemktttia“rqte-ofeleva~ “deflectionof 2.5bper aeoondproviding*, servo**. ad~uet@ toita l.dumlt Eipeeu!o Suoh m ad$latmeat mmlvek’ tlla””lnla’odwtlaa & MxqJe
tlnw ~, as deeorlbedin tableEt. . .
Tkd.ng the lag al? 1.5J3eoadegiveq-IntableIII$’ortheoomiblnatltmar theEQUalleBt
Yey andlqwat apee@.,the=tlqn waaoaloulakl
fcm .Km,lg -1A•.e 9-..2.50:* eeooaldand 12tereeulta(fig*14(a)).txnlloawth@ mph a [email protected] =tlai?k.~ i WZtitielag.. . . .*.”:.. .“.
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Tli&”oaitlon+0 U& &e&d (fig;9)”ld*” o.lIo’Ot alldmmmaet, tithut ‘lag ml ti~ O.= oewml ln& !J!hevduea of O*t endwrm==tw~ w&uMJ f= t@Jpnematioandelsci=issydxma.UelngW follomq)HvM.oaud”allezm(seafig. 3.) “
Imtid+nste Uy@ Gtilaea’atioai. .
Theaeaa.bapll.lmeaemmd to be mO#~ & eimr in:”t, snordOr “#atthe E@lqmcmastn’o YMpot.a* #[email protected] iou#llt*
It la men 15at alt&a@ .m EIWbill& 1s rdhmed about QO~emt ,..by we O- at we Serm m)tdr, Ihe motioa, Vlth m - yla=atbt8atlIEI?ao~a A tlm lagau @ M Oo~ aeoond,hamwerconlaolmtlmtibeameagah *Ooutufph&wl* #-mdraeulto” “ ‘ -W izletablli*● Anllltmwalata tllwlagaeoa$ I?mOOmam?aol!ewuld,.,,-4-0 be tu18atldaoto%y. “
On 13ebaeis* IAMpmvhu3 reault8_it appearedmeomem; torc#.Ai&e ratio K stlll~. 3hf~m3,41are ehmmthemtloah . .resiming franreauohgtb mmed? K til/WO UCUMWE@MM@O~. ..ofadkdi~oftbd.z~~ ~~at0b8 ~“ ~-seoomdomes~valwof & wasdoubled.Therduotimln KSaufflclent*. ad’factthededMKllzlng affeot“d’thelag9 M Mi%re,WI* 13tuMli@mound ~ thereihzotiond foUau-up ratio,m imo3wase .* ~ remltea”.in*er llymnlm t of we mo$lrm.5MEIlqpzwmmtwu obtainedin spited thefqo~thatthemmmt of mastlngum alno “aeeutnedtohavedUMJSedm- ..
. .. ..
~#igWelOla ehmm,*thi3 m&m”cali&3tedf orthe?mr-spb&L “,Oal&LttonWltl.i”’y- “1/12:- & - v per 13eoa, 1° ad’o-t. “andO.m S*ona*m me lu@Jq is abelnto be’elitmelyElatlul%ck?y. ...
.. -. ....tlm # relYQlts.-Ae a remit UE W oaloulatlomit 10 .pamlude~
thattheo“~trdlratioshouldnot exoe@ 1°.@ ~;[email protected]‘M-bank.”“Thesarm~ spem shouldbe sbuhat ~ . ‘~“fa13.eron6dredefl.soti8t“lemt~ a aeom. ll@~ratee of alti j..””“aefleotlonm prefeJNMMM“* PJe&yo’”gylgt@qmo@l)@,nlMe~ p@f~” -.” ‘. .B8t3ti~~lJ ●
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Rc4u.aa @@Iiatlatl of tdble .1, .It ie a@@arexNithat* + Syutymaa dael&idd+ * -Mb b“ vdiii‘bf.’{k.,tiemseryfm etdbu’ky ,.in rcu. “she’ K = “Iy& “thepecwearyreybtlm tn K ocmldbe ndeelthm iXit2M5~OilXYU-Up.Staga..W,in13M:~$Z&@ thealMuwi9 totb .“pia-. l%e Mter _ UK$UM,at~oux%e,reduoetierateof alleroaldefleotlcmavailable,but -a ~t la alreadyfax~ than10 needed,3hatotala13#rm &avel nwlilalsobe *wed.
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., ..- . . ~tdgxKpi y+. :.”<.“”;“,“”.. ..;:”‘ “ ... , . ..# . . . .Mkka “& K1 ari6e b-mioiiToit5&atiim”-* ~~.“p?eblek of “ . . .
lm@tudindL comtml fOll&fOtl* mm gmeml prcqpamIW *. tie h~~eaee,exkpt that+hmuee it ma” &wib*. tcJopdfy Wm.“tot@emountd elw@cm defleotkm .ihat @ld h ya#l and *t” be _ f m the -cod2JmpMeydymewem * .*. - % ..,*.,eb- to pistontie “8eleoied-mad“fimBd,andchqs fi--th3ratioof 4 to @ were made .-* tiefolluw+q stage. lha my one EIerm eped i%amimptmde~to thenameelevatcmspedl..t&on@@tthioalO~atloM6“,’The fo~ conditions” “were Invefltigatea in tqe pl?el- faaloulatla:
Thecxmwesahcnule2etherecmverleafrrxu* mtlal [email protected]:& 150..AE In.thaoasecri’i.theiallertinetihe dead band,waeqdjwbd In .:’‘““.aooomdmme wltti I@le II !* %hb +dmuin for.avddhqj “self -wplllg@tcJul “ .:,.’; ..:“.”.;.In the autc@lotmohaxlmam. . . ..“ ..:,,.. f ::.+ . .. ...... , . .
me,reeulte& & Oalom.ticneanlttinglhg,E&nlhIn.figwiil“~-:“.’..
to 13,Iiidioatethat,upl#m the,latmal.mtldn,”& Lq#**al mtlqp ~j,‘ .1s not oritimJlyaffeotedby tbe‘fdlow-~.ratlo:in * - Investigated.cA m EIl@f’~oazit.fad~ $qt~e. ratQ of elevatcmdafleoti6nwhioh,qpin ......,.unllkethelateralayiti~iamqulreji~bekeptama3.1-ln~.~a~i? ..tbehi@ aoools~tlom aasooietedwiththeshort-periodoeolllatiticIt shouldbe notedthatthestabili~is nota problemh thiscam ~:. .~ an e~ti~ of t@e,roaulta,Itwaa o-Jxyled“thata rate.of“c=lawldeflectionof ‘~”= 2’.5°’pe+.momd wouldtit=leadb .medsl% *oal*-atlcxs,whileprmldlng,at * eauqm*, aufflcientcontrol.Ih*9 - ‘--w ● “
......... .“.:.--. f.. .
Mmom *th IaRQ--As‘@muJ@ tdble1, the”-~o’ ~~~~, “-wititheocnNx@late&elevatorgearing,-tted a ratad [email protected] 2.5°per 8ecmd ~vidlx@ the aemvonmtoiwu @judte/1.ib~ ~Ita I.uuostspeed. Suchan ad$ustalmtInvolwathetitrcxhlotiond Q .“the la@, aa deeoribedti tablelZI. .
Idlcded that auoha c+!ltiini iciuld not he aatlafao~, ~Y* the lag ..-. .-. . “.. .J . ..:. .:
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reauceato 0.5 SaKnla,U18Ilk)ldcxlWulabe”fairly Imu aampeaat M*opmle (fig.14(10)”,but‘M theh#nmlng of tiedrop(fig.M(o))m ~ EMU be pocm. .
A bettem motim, f’rcnn“&eyolnt at’view & theao&ele&atlme .Involv’ed, would W obtafnd WYdmreaalnG K to lb (fig. .15(a)). Suoha reilwtim in K 1s .d’feotlve In W nmtlon ovum lf a
li -reduotlon In lag la not possiblef~~ 1.5(b)s Cheek”d.oulatlms athi@ ptl with K = 1/5 (flga ) ehawthereo~ to be eatltiaotarytitheitbr 0.5or 1.5secandslagQ
. . .
to.-on the btieis of &e piQo@ngmmtmezatiolwfro?.lczlgltutuJldy!ulta?ol- ae fon?wa: .
-’i%Leneuvex’a”’mm lateddo not require se-233p5aa“ctitrolmovement,alowlmYalue& e BhOUldbe UEM. l?he~tiO d eleva~ @ tO.‘-
dleplaoeuuentInpitohmul.dbeof U orderof 1/5m? leEEID’I!&a. ‘re@@xt@ “d we cont&ol@xwlng .Kl, It 1sposaib~ to obtd.nanydeslrp~re&xJ*@ of K~ At.thew timetherate ~ U be reduoed,or ~ternatlve~,a [email protected] be uee~uhllewalntalnlngthesaw rateof e~~ti del%ctiam Eithermdlfloationwill@provethemotionM thex@plane* It elmildbe notesthataa elevutarxWonBlowr -.2 ●5° per seogndoannotk. obtaiaedtiththeeleotrheemotie reiluolng K b a valuelem “Wanlb.
.
““.x redhotlon’d.E@ “willretl&JWe totalelevatm.~A reammalaleredwtlim of eleva~ .bwel will not %0 eerloua em th6:wtnd+amnelteataheveIhdfoatied=t an m travelaP 10°frcxu~ willbe ~e tostall We mxlel, .
.... . .. .1...,....~.- ......:. DlreotiomalcCmtrOl” “ .~...:.“. .
la-‘A certain~t @ direotl~ stabllizatloa
obtalneaina Mm lf theatmlene 1soauetrainedinroll,’a8bY ml16
effective“autcmat~cpilot● Withthebankstabillzatlun~tem ‘mcomnendetLherelatW18 Inold.entalstablllzatltmammmti to ~oxhatd,y 0.15°permomd of ‘reoovery for ehoh -e of deviaticmla azimu&.
Ifthelxgler@libaloftbegyrosoope Islnltiallyallneaforhorlmntalflight,theedbeequentdiveot theairplanemdel willcausethemt%mxmoetobetllteainmmh avayaato trexmlts~of emor ~lnyawas w911a9in bank,thuf3@vSngauaddiWmal_ofeta bilizat30m
“.“ kmks~ tie bNa & (f%. ~) la ~t effec~- in tid@&
the rate of reoovery of the model,butsotsonly-toInoreqmthe”aql.i=0S @e .oacillaticxuqand~ cwenoauae~tdbill~ ● [email protected]~by * nlotionad figure 18 Ill that, at the paz?mular
“ mzdrler”~ed ,bb~ o~@rdl, a reduotdon6f ~ lagfzwa..O05to O@ ~haean advereeeffeotcm thehunting. . .:
IaoaIonof mmult ~ Themm31iLwJar Wle lnveetl@tlcm of alreotlmalOoxltrolIndloate t&atli?M’ltbenUnle118tlilChlgthealleromWillprovidea W but deflnlteaamxatW ‘Mreotlonalstdtdl.1~butwIU oauseasl@lq. degrpeaF lnstablllty.- * _ Is oM@~o. K the~.ruddereadldix%otl~ ~. are usedforazlimathoan= a’rati af_ mgle
..!@yaw6evlatlon~s~ .ti 1P shbulil.be~ ti~.toQlziit@i .% ‘s~~ iapltl r&tmn to tb refemgioe hea&@ foUow3nga dlstm%anoe.Defleo&m < ,*6 -;-not be “ata ~te h@er ~ 2.5°~ ae~.
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It~is deeiz+tlto ~t- &t && -t lhe ocnltrolsystm ln?’eetl@edhereindoesnotgive~~ c~~ andtheresultsof slqpllfiedGaloulaticnlslwsmlngsuchOmtml b not8*. me cxzlt?algearingratiodetenalxms,In &is oaae,act somuchtheratioof oautrcldeflectlato airplanedlsplacaneat,as theextentto whichthesequantitiesareproportionalat aU. me Z%MdtlngphkeerelatlculsdetenldneIn aMge lMann?e- Btabill&of We autopilot-alrplaaesys~.
The specif’iorecCmmMmaatlons of tale repomtmw basedon the08hu4tia ZWCO~ h d18hdbRUC es of a certa3n_tuile9 Because~ me ~~i~ ~- W me o~~U m o-- m tierecovzu’ychangeatith~ _tude & thedlatwbance● Thusfare-rec~ cadttlcn- will-t a- dlstuz%ance,~ter thantheoneaasumdlherein, from whichlhealrplaDswillnotrecover.AMc,thelinearizedequatlcnstakeno account& thepossiblll~& atalllngtieellrplane,a sourced saneMfficul@ with~vlcusly testedpilotlessalrc~t. l?hemild ahd.d be lamched,tbwef~, as m~ly as pcseiblein the equilibriumccuilltimso thattheInltlaldlstwbanceforwhichtheautopilotIs willedcm to ccmect 18 keptto a ~.
Len@ey Mmcrlal Aercmautical IabcratcmyMatlmalAdtiscryCcamltteeforAeronautics
-W Field,Va.
.
.
,.
-—, . . ., . . ,—— , .,. -, —.. .—
P-Follow-up pulley “ ‘—- —–—-— —-—-----y
1iI1I I
Diehl Directional Gyro ‘
+1 ect r i c Relay[r
J II
I
I
nmmet i c Serv ----- ----- ---
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Exhaust toAtnmphere---surfaced1
peed cOntrO] Valve
Solenoid Valvea Legend
~ Alt Line
--- Mchan icd Link
— EiWtricd Connection
Servo Supp I y Preesura
NATIONAL ADVISORY
Figure l.- Schematic Diagram - Pneumatic Servo COMMITTEE FU AERONAUTICS
zo.
FoCA
Follow-up pulley
I@——————
T .I
Follow-up CablelI
III
Electric
Legend
Diehl Directional Gyro ‘f I I I
Relay
iIIIII
Cent rol Surface
D
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Lear Linear
Actuator
Mode I 420 AR
Air Line I
——— tlechanical Link
—.— Electrical Connection 1 30VD.C*.1NATIONAL ADVISORY
COMMITTEE hAERONAUTIcS
zo.
rmrow
Figure 2.- Schematic Diagram - Electric Motor servo
I
zo.
--...~—>k,
I
I
MR No. L5L03
6’
\’\ NATloNAL ADVISoRy
\
COMNITTEE FOR AERONAUTICS
\
Figure 4.- Semi-graphical method of constructing the response to constant-rate control deflection, with coast, lag and dead band takep into account.
MR No. L5L03
.
40
a’
-20”
-.4°
-66
-M”
I
/ .
I
~’ 12”/sec
/“y~a= 3°/sec
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\
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r’ \I
/’I/
/
I/
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I NATIONAL ADVISORY
COMMITTEE FOR AERONAUTICS1 , 1 1
0 2 4 6fftie , >econa!!
.
Figure 50- Lateral responses, K = 1/2. No lag or coast included. Deadbands vary from *1 degree to *4.5 degrees, increasing with ‘SV = 850 feet per second. a*
Qzf1 zo.
\ -. --‘-.
\ +“”--\ I
4“11 I 1 I 1 I
0 2 4 6 8 /0fime , seconds
NATIONAL ADVISORY
COMMITTEE FORAERONAUTICS
Figure 6.- Lateral responses, K = 1/4. Dead band = *1 degree. Other conditions areas given for figure 5. Motion of the gyro reference is also shown.
I
Secure’
o /4 4 6 & /0FAX? , Secmds NATIONAL ADVISORY
COMMITTEE FORAERONAUTICS
Figure 7.- Lateral responses, K - 1/8. Other conditions as in figure 5.
/
zo.
k40°
25°
deed+/0
/
band :I
+&--qi
1’II
1’I
zo.
-20° -
-40°t
‘d---
J/I
i0“
1 I I
2 h 6 B&me , second.!. NATIONAL ADVISORY
COMMITTEE FOR AERONAUTICS
Figure 8,- Effect of width of dead band on stability. Lateral response,K = 1/2; ‘Sa = 1.50 per
second: dead band ■ +1° and +lOO.
MR No. L5L03
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t
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-2d \ I\\all
no /09——.——. ./5seco77~S
Z7uJ
1 I I 1 1
0 2 4d/me , seconds NATIONAL ADVISORY
COMMITTEE FOR AERONAUTICSFigure 9.-Laterai motions, K = 1/8 and ‘Sa = 3° per second. Effect of servo
coast causing O.11° of aileron motion after entering dead band, and oflag. V = 850 feet per second.
I } I I I
o 2 4Z%7e ,S&ccbm%5 NATIONAL ADVISORY
COMMITTEE FOR AERONAUTICS
Figure 10.- Lateral motions, K = 1/12. Lag = 0.15 seconds.
II --- — _—— .-
I
5
0
-5
-/0’
-/5
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rUIr’g
------ ----- —--— -— -- ----- ---- ---— --- -- .— -- -
/ /“’/
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/
o z 4 6 8
?/#e, seconds
figure /[- Longitudinal motions, K= 1/2. No log
feet per second
/0
or cod
/2 /4
NATIONAL ADVISORYCONM!TTEEFM AEWAUTICS
included V=850
$
0-
@
-5’
-/0’
+5’
----- --- .---—---- -. —-- --
NATIONAL ADVISORYCONMITTEEFDRAERQHAUTICS
a~ =675 ‘pw sizz??d
------- ~ z /.67er sand
_ —– @. 0.83” per SeCo@
.
0
17jwe
2 4
L?. -Longitudinal
8a’e &com3
/0
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mofiom, K= //4.
Z[31 V=650 fee+ per
Dead bonds
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/2 /4
vwy from~2.5“ +0
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-/0’
-/5’ NATIONAL ADVISORYCOMMITTEE F~ AERONAUTICS
/ I I I I I I I
o 2 4 6 8 /0Z’/he,zcow!i
Agure /3. -Longi+udmol motton,K=1/8.; Y,= 6.75
dead bond 23; V=850 feetper
/2 /4
degreezper secm~
second.
!2o.
———
MR No. L5L03
6 -
@o
; -5” -/‘K
-/d”-
-/5a (4) lag= 0.53ecoA~ V=E60$p3
5=
t
I I 1 I 1
d 2 4 6 8 /5t/he ,second!
NATIONAL ADVISORYCOIM1l’lEE F~ ASSOHAUTKS
Figure 14. - Longitudinal motions, K . 1/2, showing the effect of lag,
MR No, L5L03
.
(z) k“ = /5seco/7d5
o 2 4 6$/he , 3emfldz
NATIONAL ADVISORY
COMMITTEE FOR AERONAUTICS
Figure 15.- Longitudinal motions, K =1/5: lag = 0.5 and 1.5 seconds:v= 300 feet per second.
MR No. L5L03
-5” -
-/Q’ -
-/5”
5°
t0
6’a“ -5’-~k 740”-
-/5” (b) /ug=j5sazvxis
u 2 62%7< Seconzk NATIONAL ADVISORY
COMMITTEE FOR AERONAUTICS
.
Figure 16.- Longitudinal motion, K = 1/5: lag = 0.5 and 1.5 seconds:V = 850 feet per second.
/5 fi/fed94m, u//erm co/7#..o/
rudder
NATIONAL ADVISORYCOMMITTEE FOR AERONAUTICS
zo.
FCnrocd
Figure 17.- Recovery in yaw with rudder control and with aileron control.Rate of rudder deflection is 2.5° per second; rate of aileron deflectionis 3° per second. V = 850 feet per second. Lag-in rudder control,0.5 seconds.
.-.,
Q 3 .sem-ds0.5seconds
P
I
NATIONAL ADVISORYCOMMITTEE FOR AERONAUTICS
Figure 18.- Yawing motion with rudder control, K = 1/2; ‘8r = 5° per second,V = 850 feet per second.
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