Linearized Lateral-Directional

Equations of Motion
Robert Stengel, Aircraft Flight Dynamics MAE 331, 2012
Spiral, Dutch roll,
and roll modes
Stability
derivatives
Copyright 2012 by Robert Stengel. All rights reserved. For educational use only.
http://www.princeton.edu/~stengel/MAE331.html
http://www.princeton.edu/~stengel/FlightDynamics.html
6-Component
Lateral-Directional
Equations of Motion
State Vector, 6 components
Nonlinear Dynamic Equations

! v = Y / m + gsin! cos" # ru + pw
! y
I
= cos" sin$ ( )u + cos! cos$ + sin!sin" sin$ ( )v + #sin! cos$ + cos!sin" sin$ ( )w
! p = I
zz
L + I
xz
N # I
xz
I
yy
# I
xx
# I
zz ( ) p + I
xz
2
+ I
zz
I
zz
# I
yy ( )
%
&
'
(
r
{ }
q
( )
I
xx
I
zz
# I
xz
2
( )
! r = I
xz
L + I
xx
N # I
xz
I
yy
# I
xx
# I
zz ( )r + I
xz
2
+ I
xx
I
xx
# I
yy ( )
%
&
'
(
p
{ }
q
( )
I
xx
I
zz
# I
xz
2
( )
!
! = p + qsin! + r cos! ( ) tan"
! $ = qsin! + r cos! ( )sec"
x
1
x
2
x
3
x
4
x
5
x
6
!
"
#
#
#
#
#
#
#
#
$
%
&
&
&
&
&
&
&
&
= x
LD6
=
v
y
p
r
'
(
!
"
#
#
#
#
#
#
#
#
$
%
&
&
&
&
&
&
&
&
=
Side Velocity
Crossrange
Body ) Axis Roll Rate
Body ) Axis Yaw Rate
Roll Angle about Body x Axis
Yaw Angle about Inertial x Axis
!
"
#
#
#
#
#
#
#
#
$
%
&
&
&
&
&
&
&
&
Douglas A-4
4- Component
Lateral-Directional
Equations of Motion
State Vector, 4 components
Nonlinear Dynamic Equations, neglecting crossrange and yaw angle

! v = Y / m + gsin! cos" # ru + pw
! p = I
zz
L + I
xz
N # I
xz
I
yy
# I
xx
# I
zz ( ) p + I
xz
2
+ I
zz
I
zz
# I
yy ( )
$
%
&
'
r
{ }
q
( )
I
xx
I
zz
# I
xz
2
( )
! r = I
xz
L + I
xx
N # I
xz
I
yy
# I
xx
# I
zz ( )r + I
xz
2
+ I
xx
I
xx
# I
yy ( )
$
%
&
'
p
{ }
q
( )
I
xx
I
zz
# I
xz
2
( )
!
! = p + qsin! + r cos! ( ) tan"
x
1
x
2
x
3
x
4
!
"
#
#
#
#
#
$
%
&
&
&
&
&
= x
LD4
=
v
p
r
'
!
"
#
#
#
#
#
$
%
&
&
&
&
&
=
Side Velocity
Body ( Axis Roll Rate
Body ( Axis Yaw Rate
Roll Angle about Body x Axis
!
"
#
#
#
#
#
$
%
&
&
&
&
&
Euroghter Typhoon
Lateral-Directional Equations
of Motion Assuming Steady,
Level Longitudinal Flight
Nonlinear dynamic equations, assuming steady, level,
ight (longitudinal variables are constant )

! v =Y
B
/ m+ gsin! cos"
N
#ru
N
+ pw
N
=Y
B
/ m+ gsin! cos$
N
#ru
N
+ pw
N
! p = I
zz
L
B
+ I
xz
N
B
( )
I
xx
I
zz
# I
xz
2
( )
! r = I
xz
L
B
+ I
xx
N
B
( )
I
xx
I
zz
# I
xz
2
( )
!
! = p+ r cos! ( ) tan"
N
= p+ r cos! ( ) tan$
N
q
N
= 0
!
N
= 0
"
N
=#
N
Lockheed F-117
Lateral-Directional Force and
Moments
Y
B
= C
Y
B
1
2
!
N
V
N
2
S; Body " Axis Side Force
L
B
= C
l
B
1
2
!
N
V
N
2
Sb; Body " Axis Rolling Moment
N
B
= C
n
B
1
2
!
N
V
N
2
Sb; Body " Axis Yawing Moment
Linearized Equations
of Motion
Body-Axis Perturbation
Equations of Motion

!! v(t )
!! p(t )
!! r(t )
!
!
"(t )
#
$
%
%
%
%
%
&
'
(
(
(
(
(
=
) f
1
)v
) f
1
) p
) f
1
)r
) f
1
)"
) f
2
)v
) f
2
) p
) f
2
)r
) f
2
)"
) f
3
)v
) f
3
) p
) f
3
)r
) f
3
)"
) f
4
)v
) f
4
) p
) f
4
)r
) f
4
)"
#
$
%
%
%
%
%
%
%
%
%
%
%
&
'
(
(
(
(
(
(
(
(
(
(
(
!v(t )
!p(t )
!r(t )
!"(t )
#
$
%
%
%
%
%
&
'
(
(
(
(
(
+ Control [ ] + Disturbance [ ]
Body-Axis Perturbation
Variables
!u
1
!u
2
"
#
$
$
%
&
'
'
=
!(A
!(R
"
#
$
%
&
'
=
Aileron Perturbation
Rudder Perturbation
"
#
$
$
%
&
'
'
!w
1
!w
2
"
#
$
$
%
&
'
'
=
!(A
!(R
"
#
$
%
&
'
=
Side Wind Perturbation
Vortical Wind Perturbation
"
#
$
$
%
&
'
'
!v
!p
!r
!"
#
$
%
%
%
%
%
&
'
(
(
(
(
(
=
Side Velocity Perturbation
Body ) Axis Roll Rate Perturbation
Body ) Axis Yaw Rate Perturbation
Roll Angle about Body x Axis Perturbation
#
$
%
%
%
%
%
&
'
(
(
(
(
(
Linearized Lateral-Directional
Response to Yaw Rate Initial
Condition
~Roll-mode
response of roll
angle
~Spiral-mode
response of
crossrange
~Spiral-mode
response of yaw
angle
~Dutch-roll-
mode response
of side velocity
~Dutch-roll-mode
response of roll
and yaw rates
Dimensional Stability-and-Control
Derivatives
! f
1
!v ! f
1
! p ! f
1
!r ! f
1
!"
! f
2
!v ! f
2
! p ! f
2
!r ! f
2
!"
! f
3
!v ! f
3
! p ! f
3
!r ! f
3
!"
! f
4
!v ! f
4
! p ! f
4
!r ! f
4
!"
#
$
%
%
%
%
%
&
'
(
(
(
(
(
Stability Matrix
=
Y
v
Y
p
+w
N ( )
Y
r
!u
N
( ) gcos"
N
L
v
L
p
L
r
0
N
v
N
p
N
r
0
0 1 tan"
N
0
#
$
%
%
%
%
%
%
&
'
(
(
(
(
(
(
Dimensional Stability-and-
Control Derivatives
! f
1
!"A ! f
1
!"R
! f
2
!"A ! f
2
!"R
! f
3
!"A ! f
3
!"R
! f
4
!"A ! f
4
!"R
#
$
%
%
%
%
%
&
'
(
(
(
(
(
=
Y
"A
Y
"R
L
"A
L
"R
N
"A
N
"R
0 0
#
$
%
%
%
%
%
&
'
(
(
(
(
(
! f
1
!v
wind
! f
1
! p
wind
! f
2
!v
wind
! f
2
! p
wind
! f
3
!v
wind
! f
3
! p
wind
! f
4
!v
wind
! f
4
! p
wind
"
#
$
$
$
$
$
%
&
'
'
'
'
'
=
Y
v
Y
p
L
v
L
p
N
v
N
p
0 0
"
#
$
$
$
$
$
%
&
'
'
'
'
'
Control
Effect Matrix
Disturbance
Effect Matrix
Stability Axes
Stability Axes
Alternative set of body axes
Nominal x axis is offset from the body centerline by
the nominal angle of attack, !
N

Transformation from
Original Body Axes to
Stability Axes
H
B
S
=
cos!
N
0 sin!
N
0 1 0
"sin!
N
0 cos!
N
#
$
%
%
%
&
'
(
(
(
!u
!v
!w
"
#
$
$
$
%
&
'
'
'
S
= H
B
S
!u
!v
!w
"
#
$
$
$
%
&
'
'
'
B
!p
!q
!r
"
#
$
$
$
%
&
'
'
'
S
= H
B
S
!p
!q
!r
"
#
$
$
$
%
&
'
'
'
B
Side velocity (!v) and pitch rate (#q) are unchanged
by the transformation
Stability-Axis State
Rotate body axes to stability axes

!v(t )
!p(t )
!r(t )
!"(t )
#
$
%
%
%
%
%
&
'
(
(
(
(
(
Body)Axis
*!+
N
*
!v(t )
!p(t )
!r(t )
!"(t )
#
$
%
%
%
%
%
&
'
(
(
(
(
(
Stability)Axis
Stability-Axis State
!v(t )
!p(t )
!r(t )
!"(t )
#
$
%
%
%
%
%
&
'
(
(
(
(
(
Stability)Axis
* !+ ,
!v
V
N
*
!+(t )
!p(t )
!r(t )
!"(t )
#
$
%
%
%
%
%
&
'
(
(
(
(
(
Stability)Axis
Replace side velocity by sideslip angle
Stability-Axis State
!"(t )
!p(t )
!r(t )
!#(t )
$
%
&
&
&
&
&
'
(
)
)
)
)
)
Stability*Axis
+
!r(t )
!"(t )
!p(t )
!#(t )
$
%
&
&
&
&
&
'
(
)
)
)
)
)
Stability*Axis
=
Stability * Axis Yaw Rate Perturbation
Sideslip Angle Perturbation
Stability * Axis Roll Rate Perturbation
Stability * Axis Roll Angle Perturbation
$
%
&
&
&
&
&
'
(
)
)
)
)
)
Revise state order
Stability-Axis Lateral-Directional
Equations

!! r(t )
!
!
"(t )
!! p(t )
!
!
#(t )
$
%
&
&
&
&
&
'
(
)
)
)
)
)
S
=
N
r
N
"
N
p
0
Y
r
V
N
*1
+
,
-
.
/
0
Y
"
V
N
Y
p
V
N
gcos1
N
V
N
L
r
L
"
L
p
0
tan1
N
0 1 0
$
%
&
&
&
&
&
&
&
'
(
)
)
)
)
)
)
)
S
!r(t )
!"(t )
!p(t )
!#(t )
$
%
&
&
&
&
&
'
(
)
)
)
)
)
S
+
N
2A
N
2R
Y
2A
V
N
Y
2R
V
N
L
2A
L
2R
0 0
$
%
&
&
&
&
&
&
'
(
)
)
)
)
)
)
S
!2A(t )
!2R(t )
$
%
&
&
'
(
)
)
+
N
"
N
p
Y
"
V
N
Y
p
V
N
L
"
L
p
0 0
$
%
&
&
&
&
&
&
&
'
(
)
)
)
)
)
)
)
S
!"
wind
!p
wind
$
%
&
&
'
(
)
)
Why Modify the Equations?
Dutch-roll mode is primarily described by stability-axis yaw
rate and sideslip angle
Roll and spiral mode are primarily described by stability-axis
roll rate and roll angle
Linearized equations allow the three modes to be studied
Stable Spiral
Unstable Spiral
Roll
Dutch Roll, top
Dutch Roll, front
Why Modify the Equations?
F
LD
=
F
DR
F
RS
DR
F
DR
RS
F
RS
!
"
#
#
$
%
&
&
=
F
DR
small
small F
RS
!
"
#
#
$
%
&
&
'
F
DR
0
0 F
RS
!
"
#
#
$
%
&
&
Effects of Dutch roll perturbations
on Dutch roll motion
Effects of Dutch roll perturbations
on roll-spiral motion
Effects of roll-spiral perturbations
on Dutch roll motion
Effects of roll-spiral perturbations on
roll-spiral motion
... but are the off-diagonal blocks really small?
Dassault Rafale
Stability, Control, and
Disturbance Matrices
F
LD
=
F
DR
F
RS
DR
F
DR
RS
F
RS
!
"
#
#
$
%
&
&
=
N
r
N
'
N
p
0
Y
r
V
N
(1
)
*
+
,
-
.
Y
'
V
N
Y
p
V
N
gcos/
N
V
N
L
r
L
'
L
p
0
tan/
N
0 1 0
!
"
#
#
#
#
#
#
#
$
%
&
&
&
&
&
&
&
G
LD
=
N
!A
N
!R
Y
!A
V
N
Y
!R
V
N
L
!A
L
!R
0 0
"
#
$
$
$
$
$
$
%
&
'
'
'
'
'
'
L
LD
=
N
!
N
p
Y
!
V
N
Y
p
V
N
L
!
L
p
0 0
"
#
$
$
$
$
$
$
$
%
&
'
'
'
'
'
'
'
!x
1
!x
2
!x
3
!x
4
"
#
$
$
$
$
$
%
&
'
'
'
'
'
=
!r
!(
!p
!)
"
#
$
$
$
$
$
%
&
'
'
'
'
'
!u
1
!u
2
"
#
$
$
%
&
'
'
=
!(A
!(R
"
#
$
%
&
'
!w
1
!w
2
"
#
$
$
%
&
'
'
=
!(A
!(R
"
#
$
%
&
'
Lateral-Directional
Stability Derivatives
2
nd
-Order Approximate
Modes of Lateral-
Directional Motion
2
nd
-Order Approximations
in System Matrices
F
LD
=
F
DR
0
0 F
RS
!
"
#
#
$
%
&
&
=
N
r
N
'
0 0
Y
r
V
N
(1
)
*
+
,
-
.
Y
'
V
N
0 0
0 0 L
p
0
0 0 1 0
!
"
#
#
#
#
#
#
#
$
%
&
&
&
&
&
&
&
G
LD
=
N
!A
0
Y
!A
V
N
0
0 L
!R
0 0
"
#
$
$
$
$
$
$
%
&
'
'
'
'
'
'
L
LD
=
N
!
0
Y
!
V
N
0
0 L
p
0 0
"
#
$
$
$
$
$
$
$
%
&
'
'
'
'
'
'
'
Second-Order Models of
Lateral-Directional Motion
Approximate Spiral-Roll Equation
Approximate Dutch Roll Equation

!! x
DR
=
!! r
!
!
"
#
$
%
%
&
'
(
(
)
N
r
N
"
Y
r
V
N
*1
+
,
-
.
/
0
Y
"
V
N
#
$
%
%
%
%
&
'
(
(
(
(
!r
!"
#
$
%
%
&
'
(
(
+
N
1R
Y
1R
V
N
#
$
%
%
%
&
'
(
(
(
!1R+
N
"
Y
"
V
N
#
$
%
%
%
%
&
'
(
(
(
(
!"
wind

!! x
RS
=
!! p
!
!
"
#
$
%
%
&
'
(
(
)
L
p
0
1 0
#
$
%
%
&
'
(
(
!p
!"
#
$
%
%
&
'
(
(
+
L
* A
0
#
$
%
%
&
'
(
(
!*A +
L
p
0
#
$
%
%
&
'
(
(
!p
wind
Approximate Roll
and Spiral Modes

!! p
!
!
"
#
$
%
%
&
'
(
(
=
L
p
0
1 0
#
$
%
%
&
'
(
(
!p
!"
#
$
%
%
&
'
(
(
+
L
) A
0
#
$
%
%
&
'
(
(
!)A
!
RS
(s) = s s " L
p
( )
#
S
= 0
#
R
= L
p
Characteristic polynomial
has real roots
Roll rate is damped by L
p

Roll angle is a pure integral of roll rate

!p t ( ) !" t ( )
Initial condition response
Neutral stability
Generally < 0
Roll Damping Due to Roll Rate, L
p
L
p
! C
l
p
"V
N
2
2I
xx
#
$
%
&
'
(Sb = C
l p
b
2V
N
#
$
%
&
'
(
"V
N
2
2I
xx
#
$
%
&
'
(Sb
= C
l p
"V
N
4I
xx
#
$
%
&
'
(Sb
2
C
l p
( )
Wing
=
! "C
l
( )
Wing
! p
= #
C
L
$
12
1+ 3%
1+ %
&
'
(
)
*
+
Wing with taper
Thin triangular wing
C
l p
( )
Wing
= !
"AR
32
C
l p
! C
l p
( )
Vertical Tail
+ C
l p
( )
Horizontal Tail
+ C
l p
( )
Wing
Vertical tail, horizontal tail, and wing are
principal contributors
< 0 for stability
NACA-TR-1098, 1952
NACA-TR-1052, 1951
Roll Damping Due
to Roll Rate, L
p
Tapered vertical tail
Tapered horizontal tail
p =
pb
2V
N
C
l p
( )
ht
=
! "C
l
( )
ht
! p
= #
C
L
$ht
12
S
ht
S
%
&
'
(
)
*
1+ 3+
1++
%
&
'
(
)
*
pb/2V
N
describes helix
angle for a steady roll
C
l p
( )
vt
=
! "C
l
( )
vt
! p
= #
C
Y
$vt
12
S
vt
S
%
&
'
(
)
*
1+ 3+
1++
%
&
'
(
)
*
Approximate Dutch
Roll Mode

!! r
!
!
"
#
$
%
%
&
'
(
(
=
N
r
N
"
Y
r
V
N
)1
*
+
,
-
.
/
Y
"
V
N
#
$
%
%
%
%
&
'
(
(
(
(
!r
!"
#
$
%
%
&
'
(
(
+
N
0R
Y
0R
V
N
#
$
%
%
%
&
'
(
(
(
!0R
!
DR
(s) = s
2
" N
r
+
Y
#
V
N
$
%
&
'
(
)s + N
#
1"
Y
r
V
N
( )
+ N
r
Y
#
V
N
*
+
,
-
.
/
0
nDR
= N
#
1"
Y
r
V
N
( )
+ N
r
Y
#
V
N
1
DR
= " N
r
+
Y
#
V
N
$
%
&
'
(
) 2 N
#
1"
Y
r
V
N
( )
+ N
r
Y
#
V
N
!
nDR
= N
"
+ N
r
Y
"
V
N
#
DR
= $ N
r
+
Y
"
V
N
%
&
'
(
)
* 2 N
"
+ N
r
Y
"
V
N
With negligible
side-force
sensitivity to
yaw rate, Y
r

Characteristic
polynomial,
natural
frequency, and
damping ratio
Initial Condition Response of
Approximate Dutch Roll Mode
!r t ( ) !" t ( )
Side Force due to Sideslip Angle
Y !
"C
Y
"#
qS# = C
Y
#
qS#
C
Y
!
" C
Y
!
( )
Fuselage
+ C
Y
!
( )
Vertical Tail
+ C
Y
!
( )
Wing
C
Y
!
( )
Vertical Tail
"
#C
Y
#!
$
%
&
'
(
)
vt
*
vt
S
Vertical Tail
S
C
Y
!
( )
Fuselage
" +2
S
Base
S
; S
B
=
,d
Base
2
4
C
Y
!
( )
Wing
" +C
D
Parasite, Wing
+ k-
2
!
vt
= Vertical tail efficiency
k =
"AR
1+ 1+ AR
2
# = Wing dihedral angle, rad
Fuselage, vertical tail, and wing are main contributors
Yawing Moment due to Sideslip Angle
N !
"C
n
"#
$V
2
2
%
&
'
(
)
*Sb# = C
n
#
$V
2
2
%
&
'
(
)
*Sb#
! Side force contributions times
respective moment arms
Non-dimensional stability
derivative
C
n
!
" C
n
!
( )
Vertical Tail
+ C
n
!
( )
Fuselage
+ C
n
!
( )
Wing
+ C
n
!
( )
Propeller

C
n
!
( )
Vertical Tail
" #C
Y
!vt
$
vt
S
vt
l
vt
Sb
! #C
Y
!vt
$
vt
V
VT
Vertical tail contribution

V
VT
=
S
vt
l
vt
Sb
= Vertical Tail Volume Ratio
!
vt
=!
elas
1+
"#
"$
( )
V
vt
2
V
N
2
%
&
'
(
)
*
Yawing Moment due to Sideslip Angle

l
vt
! Vertical tail length (+)
= distance from center of mass to tail center of pressure
= x
cm
! x
cp
vt
[x is positive forward; both are negative numbers]
C
n
!
( )
Fuselage
=
"2K Volume
Fuselage
Sb
K = 1!
d
max
Length
fuselage
"
#
$
%
&
'
1.3
Fuselage contribution
C
n
!
( )
Wing
= 0.75C
L
N
"+ fcn #, AR, $ ( )C
L
N
2
Wing (differential lift and
induced drag) contribution
Yawing Moment due to Sideslip Angle
Yaw Damping Due to Yaw Rate, N
r
Dimensional stability derivative
N
r
! C
n
r
"V
N
2
2I
zz
#
$
%
&
'
(Sb = C
n
r
b
2V
N
#
$
%
&
'
(
"V
N
2
2I
zz
#
$
%
&
'
(Sb
= C
n
r
"V
N
4I
zz
#
$
%
&
'
(Sb
2
< 0 for stability
High wing-
sweep angle
can lead to
N
r
> 0
Martin Marietta X-24B
Yaw Damping Due
to Yaw Rate, N
r

C
n r
! C
n r
( )
Vertical Tail
+ C
n r
( )
Wing
C
n
r
( )
Wing
= k
0
C
L
2
+ k
1
C
D
Parasite, Wing
k
0
and k
1
are functions of
aspect ratio and sweep angle
Wing contribution
Vertical tail contribution
! C
n ( )
Vertical Tail
= " C
n#
( )
Vertical Tail
rl
vt
V
N
( )
= " C
n#
( )
Vertical Tail
l
vt
b
$
%
&
'
(
)
b
V
N
$
%
&
'
(
)r
r =
rb
2V
N
C
n r
( )
vt
=
!" C
n
( )
Vertical Tail
!
rb
2V
N
( )
=
!" C
n
( )
Vertical Tail
! r
= #2 C
n
$
( )
Vertical Tail
l
vt
b
%
&
'
(
)
*
NACA-TR-1098, 1952
NACA-TR-1052, 1951
Comparison of Fourth-
and Second-Order
Dynamic Models
2
nd
-order-model eigenvalues are close to those of the 4
th
-order model
Eigenvalue magnitudes of Dutch roll and roll roots are similar
Bizjet Fourth- and
Second-Order Models
and Eigenvalues
Fourth-Order Model
F = G = Eigenvalue Damping Freq. (rad/s)

-0.1079 1.9011 0.0566 0 0 -1.1196 0.00883
-1 -0.1567 0 0.0958 0 0 -1.2
0.2501 -2.408 -1.1616 0 2.3106 0 -1.16e-01 + 1.39e+00j 8.32E-02 1.39E+00
0 0 1 0 0 0 -1.16e-01 - 1.39e+00j 8.32E-02 1.39E+00
Dutch Roll Approximation
F = G = Eigenvalue Damping Freq. (rad/s)

-0.1079 1.9011 -1.1196 -1.32e-01 + 1.38e+00j 9.55E-02 1.38E+00
-1 -0.1567 0 -1.32e-01 - 1.38e+00j 9.55E-02 1.38E+00
Roll-Spiral Approximation
F = G = Eigenvalue Damping Freq. (rad/s)

-1.1616 0 2.3106 0
1 0 0 -1.16
Unstable
Comparison of Second- and Fourth-Order
Initial-Condition Responses of Business Jet
Fourth-Order Response Second-Order Response
Speed and damping of responses is adequately portrayed by 2
nd
-order models
Roll-spiral modes have little effect on yaw rate and sideslip angle responses
Dutch roll mode has large effect on roll rate and roll angle responses
Primary Lateral-Directional
Control Derivatives
L
!A
= C
l
!A
"V
N
2
2I
xx
#
$
%
&
'
(
Sb
N
!R
= C
n
!R
"V
N
2
2I
zz
#
$
%
&
'
(Sb
Next Time:
Analysis of Time Response

Reading
Flight Dynamics, 298-314,
338-342
Virtual Textbook, Part 13
Supplemental Material

!! v(t )
!! p(t )
!! r(t )
!
!
"(t )
#
$
%
%
%
%
%
&
'
(
(
(
(
(
=
Y
v
Y
p
+w
N ( )
Y
r
)u
N
( ) gcos*
N
L
v
L
p
L
r
0
N
v
N
p
N
r
0
0 1 tan*
N
0
#
$
%
%
%
%
%
%
&
'
(
(
(
(
(
(
!v(t )
!p(t )
!r(t )
!"(t )
#
$
%
%
%
%
%
&
'
(
(
(
(
(
+
Y
+A
Y
+R
L
+A
L
+R
N
+A
N
+R
0 0
#
$
%
%
%
%
%
&
'
(
(
(
(
(
!+A(t )
!+R(t )
#
$
%
%
&
'
(
(
+
Y
v
Y
p
L
v
L
p
N
v
N
p
0 0
#
$
%
%
%
%
%
&
'
(
(
(
(
(
!v
wind
!p
wind
#
$
%
%
&
'
(
(
Rolling and yawing motions
Body-Axis Perturbation
Equations of Motion