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& REPORT NO. 1314
EQUATIONS OF MOTION FOR A
MODIFIED POINT MASS TRAJECTORY
by
Robert F. LieskeMary L. Reiter
March 1966
Distribution of this document is unlimited.
U. S. ARMY MATERIEL COMMAND
BALLISTIC RESEARCH LABORATORIESABERDEEN PROVING GROUND, MARYLAND
Destroy this report when it is no longer needed.Do not return it to the originator,
The findings in this report are not to be construed asan official Department of the Army position, unlessso designated by other authorized docilments.
THIS REPORT HAS BEEN DELIMITED
AND CLEARED FOR PUBLIC RELEASE
UNDE• DOD DIRECTIVE 5200.20 AND
NO RECTRICTIONS ARE IMPJ)< UPON
ITS USE AND DISCLOSURE
DISTRIBUTION STATEEMENI A
APPROVED FOR PUBLIC RELEASE;
DISTRIBUTION UNLIMITED4
BALLISTIC RESEARCH LAI<ORATORIES
REPORT NO. 1314
MARCH 1966
Distribution of this document is unlimited.
EQUATIONS OF MOTION
FOR A
MODIFIED POINT MASS
TRAJECTORY
Robert F. LieskeMary L. Reiter
Computing Laboratory
RDT & E Project No. IP5238O1A87
ABERDEEN PROVING GROUND, MARYLAND
BALLISTIC RESEARCH LABORATORIES
REPORT NO. 1314
RFLieske/MLReiter/vm
Aberdeen Proving Ground, Md.March 1966
EQUATIONS OF MOTION
FOR A
MODIFIED POINT MASS
TRAJECTORY
ABSTRACT
A modified point mass mathematical model which incorp )rates an
estimate of the yaw of repose, has been developed to represent the
flight of a spin stabilized, dynamically stable, artillery shell. This
improved mathematical model has the desirable feature of representing
the effects of the significant variables of yaw of repose and axial spin
along the trajectory.
3
TABLE OF CONTENTS
Page
Abstract .............. ................... 3.
Table of Symbols ........................ 7
Introduction ...... ..... ..... ........................... 11
Basic Laws of Motion of a Rigid Body ...... ............. .Z
Estimate for Yaw of Repose ....... .................. .... 13
Utilization ............................ 19
Conclusions ...... ....... ... ........................... 2Z
References ..... ............... .... .............. .. .23
Distribution List ................. ........................ Z5
5
SKVIWS PAME WAS StANE T132701 WAS NOT 711.MW
TAB.tE OF SYMBOLS
T errm Definition Units
A Axial moment of inertia lb-ft2
AZ Azimuth of line of fire (clockwise from north) mil
B Transverse moment of inertia lb-ft2
C Ballistic coefficient for standard mass lb/in2s
d Reference diameter of projectile ft
E Position of projectile with respect to spherical ftEarth surface
g Acceleration due to gravity ft/s ec 2
Acceleration due to gravity (surface) ft/sec2
"go2H Total angular momentum lb-ft rad/sec
I Unit vector in the direction of v
KA Spin damping moment coefficient
K Drag force coefficient
KDa Yaw drag -- rce coefficient
K F Magnus force coefficient
KH Damping moment coefficient
K1L Lift force coefficient
KM Overturning nmoment coefficientMJ
-,KS Pitching force coefficientS
K TMagnus mornent coefficient
Term Definition Units
1 Lift factor
L Latitude of launch deg
M Mach number
m Projectile mass lb
ms Standard projectile mass lb
N Axial spin rad/sec
Q Yaw drag factor
r Distance between center of Earth and projectile ft
R Effective radius of Earth ft
Time sec
u Velocity of projectile with respect to ground ft/sec
v Velocity of the projectile with respect to air ft/sec
w Velocity of the air with respect to ground ft/sec I
x Unit vector along the longitudinal axis ofthe projectile
X Position of the projectile with respect to a ftground-fixed coordinate system
a Angle of yaw of projectile rad
ae Approximation for yaw of repose rad
A Coriolis acceleration due to rotation of the ft/sec2
Earth
Air density as a function of E (where E is lb/ft3
a component of E)
8
Term Definition Units
Q Angular velocity of the Earth rad/sec
First derivative with respect to time -/Sec
Second derivative with respect to time -- 2sec
9
I'
?'ftVICvSs-A WASi W-IM 7MweZ WznAS WTs iir nXM
INTRODUCTION
The mathermatical model for rigid body trajectory simulation, as
reported in BRL Report No. 1244, closely matches the results of
physical experiments of spin--stabilized projectiles over a spectrum
of test conditions. However, its usefulness, as in most rigid body
simulations, is hindered by the time required to numerically solve
the system of differential equations. This report describes the der-
ivation of a mathematical model which will not be as time consuming
to solve as the rigid body system, but which will represent as 'losely
as possible the center of gravity motion of the projectile by utilizing
a force system, axial spin and an estimate of the yaw of repose.
I
*11
I 1
itt
BASIC LAWS OF MOTION OF A RIGID BODY
The frame of reference for all vectors to be presented is a ground-
fixed, right-handed Cartesian coordinate system with unit vectors
(I, 2, 3). Assume the 2 axis to be parallel to the vector g, and g
to have the same direction as 1 X 3 = - 2.
Assume that the body can be considered a solid of revolution. Then
spin-stabilized projectiles can be oriented by choosing a unit vector x
along the axis of symmetry, pointing from tail to nose. N is the mag-
nitude of angular velocity parallel to x. N is positive if it results from
a rotation causing a right-handed screw to advance in the direction of
X.
The following set of simultaneous differential equations of motion
for a spin-stabilized projectile is developed in BRL Report 1244.
The equation of motion of the center of mass is:
(1.1) C -m(Ko + az2 KD ) vv+pd 2K [ vX (xv) ]m Do0 a m L W _.
-pd K_ v + pd3 KN (xX v)+ g +Am _- -P -0 -
m
The total angular momentum of the body can be expressed as the
sum of two vectors in the ground-fixed coordinate system:
(a) The angular momentum about x.
(b) The total angular momentum about an axis perperdicular to x.
The angular momentum about x can be represented by the vector
A N x and the angular momentum about an axis perpendicular to x by
the vector B (x X k).
12
Let H denote the total angular momentum of the body. The vector
representation of H is:
(1.2) H= ANx + B (xX;)
The vector rate of change of angular mo:n, .itum is the sum of the
applied moments.
(1.3) T. = ANx + ANc_ + B (x X
3 4pd3KMv (vX x) - pd4K1 1 v (xX _i1
+pd4KTN [xX (xX v)]pdKAN vxT A~
ESTIMATE FOR YAW OF REPOSE
An estimate for the yaw of repose will be derived from the rigid
body system of differential equations of motion for the purpose of rep-
resenting the effects of yaw.
The following conditions are assumed:
(1) The projectile can be represented sufficiently well as a
body of revolution.
(2) The projectile i-.• dynamically stable.
(3) Initial yaw is assumed small, i. e., it has no sigr.ificant
effect on the trajectory.
Examination of equation (1. 1) shows the magnitude I x X v
as being present in the lift term and the Magnus term, the lift term
being more significant. Examination of equation (1. 3) shows its
presence also in the corresponding terms of H.
If I v /v, then xX I I - sin a. To a first order approximation,
13
this is a ; however, for computational purposes it is a more desirable
quantity than a. To get the proper orientation of this quantity, the
following vector will be defined:
(2.1) ae-I X(xXI)= x -cos aI
Obviously, ae I = 0. a represents vector yaw * directed from I-+e --e
toward x. The effect of a e on the trajectory is generally small under
the assumptions stated. Furthermore, it will be assumed that je is
negligible. This implies , is small; moreover, the following approx-
imations are warranted:
(2.2) C =cosai
(2.3) cos a
The separation of H into ,:cmnponents parallel and perpendicular to
x yields:
4(2.4) Al= -pd K ANv
3(2.5) ANk + B (xX x) pd3 K V(VvX x)
p 4 K4- pd4K v (xX i) + pd K N [xX (X Av)]
To determine ae' first replace x and its derivatives in (1. 1) and
(2. 5) using equations (2.1), (2. 2) and (Z. 3).
* NOTE: Iel a a. However, as mentioned earlier, ;n magnitude
%e I is a first-order approximation for yaw. a is in the plane
determined by x and I, in the direction from I toward x. Hence, a
will be referred to as vector yaw.
1411
The resulting equations are:
-pd 2(KD + aKD )v + pd 2 K 2v e pd 3 Ksv cos a(2. 6) D1 o D + L-
m m m
+ pd 3 KFNV (a ×I) Nag + A
(2.7) AN cos al+ B cos a(a 2i ) + B Cos2alIXY)
3 2 4
=pd KMv (I Xa.) +pdK Nv [cosa (ae+ c)s aI)-
v cos a [(e + cos a )Ix I
Cross multiplication by I of both sides of equations (2. 6) and (2. 7)
and, with A negligible in comparison to g, the simultaneous solution
of the resulting equations gives the following for aie
2 2 2 ix!+Pd V 8 [-ANcos a (IXI+Bcos agIpK( Ix ]
d4K '1" / {Zgd 7 KFKTN 2 2z
fl T5 rF S O
+ pdK v 2s [- A os
22 3d42 722
+pdl KLv [pd KMv + B Cos a I
15
jt --
Iit
IIFor f urther substitution into (2. 8) the following are required:
(2. •) 1 v v
(210)= [t-1~ /i /v [x x ]/v
(21v =-(z I/v + 1(.) 21 /v2
+V/v-( ir )I/v-(2 1)/ v
(2.12) V/vQ-' )_I/v [1 X xI)]/v
(2. 12) will be considered negligible since i can be approximated
by V, and U is essentially parallel to .
With this assumption,
(2.13)Ce= f-AK Ncosa (vX'i +md T. cos a [v×{i- g
+ pd3K cosa </m)] - KL'-U ".
ZB cosa. I" - Pd4 Ku cos 2 a v]2
r 3 4 5 2 2lpd KLKMv + pd K FK TN cos a v
+KLBcos •L o
In the denominator of equation (2. 13) the v term predominates
therefore, K B cos a ( - . will be considered negligible.
The ratio of this term to the remaining terms in the denominator is of
the order of (g /v 4). In the numerator, [I- ('" I) I] is the component
of perpendicular to the projectile flight in the air coordinate system.
16
For most spin stabilized trajectories I)- I)1 is no more than
the magnitude of g; hence, consider
(2.14) KL [V- (. I)I][ 2Bcos a(v. I) -pd K cos av ]
2 d4K 2
K [ 2 B cos a (• I p Kcos a v2 ]
For artillery shells, this term is generally bounded by
(2. 15) KL jg j 2 B (10g1) ZOKL Bg2
Now
(2.16' 'AK N'(vX A+ d2 KN X g
*1 L' Z ' mdZ KT[ vXv{isin €
Nv {- AKL+ md K L pdd + AKgLsin
where cos = g .v
g v
For artillery shells, it is usually true that
2 .17(2.17) fAK + md K IK. pdv < < AK gsinIL T L 01Lg
17
Comparison of (2. 15) and (2. 17) shows that the ratio of (2. 14) to
(2.16) is less than the order of (Zog /Nv). For high spin, (2. 14) will
be considered negligible.
Let
(2. 18) v u- w
(2. 19) v=u.-w
If the effects of the pitching force (KS term) and w are assumed
insignificant, and cos a can be approximatecd by 1, equation (2. 13) is
reduced to
(-AKL N (vXd) + md +m KTN [x vX -g)] I(2. Z0 ae
ýe3 4 5 2pd3K K v + pd5K K N vLpdKF TI
18
UTILIZATION
The primary goal of the development of a.e was the acquisition of a
mathematical model which would incorporate the effects of yaw, but
would not require the computing time of a complete r'..gid body simula-
tion. The following representation was devised to incorporate ae in a
modified point-mass mathematical model. This representation includes
auxiliary equations necessary for the numerical solution of the differen-
tial equation of motion of the center of mass.
The equation of motion of the center of mass is:
(3.1)*u= - Pm {D +KD [K Q ] vv144C m o a
s
+PdZ KL vZ le +.g + Ain
IT+ _L KF N Q(a eXv.mn
where: C = ballistic coefficient for standard masss
1 = lift factor
m = projectile mass
m = standard projectile masss
Q= yaw drag factor
*Note: If Q and 1 are set to zero (0) in equation (3. 1), this system
reduces to the classical point mass equations cf motion.
19
IThe axial spin is:
t 41,3.2z) N=- YO p K ANyA
The approximation for the yaw of repose is:
(3.3) a =a - a ) (v×X a (•) (Xg)
AKL Nwhere: a =
a Pd3KLKKv + pd5 K K N v2
rn KTNT
4 3 2 2pd KLKM v + pd3K FK TNv
The velocity of the projectile with respect to air is:
(3.4) v= u -vw
The position of the projectile with respect to ground-fixed Cartesian
coordinate system is:
(3.5) X u dt
The approximation for the position of the projectile with respect to
spherical Earth surface is:
"X 1
(3.6) E X +R. - (Rz - X 2/2
x3
where R- effective radius of Earth.
20
The approximation of the force of gravity is:
(3.• 7)-go-90 - + R-32
r -x [X 1 ++R)2 +x 32 ] 1/
where go = value of gravity at point of launch
r = distance between center of Earth and projectile
The Coriolis acceleration due to rotation of the Earth is :
X1 U2 -XZu 3
(3.8) A X LU X u1z 1 3u3
For the northern hemisphere, the X's are defined by the following
equations. [For the southern hemisphere replace L by ( L). ]
2 02 cos L sinAZ
2 Q sin L
3= 2 12 cos L cos AZ
where: 0 = Angular velocity of the Earth (radians/sec)L= Latitude of launch point
AZ= Azimuth of fire measured clockwise from north
The orientation of yaw (') is the angle between the plane containing
both vand ae and a vertical plane containing v. It is measured clock-
wise from the vertical plane. If desired, T is given by the expression:
-1 a (Vla- " r )v 1(3.9) T = tan e3 ) v-
[(VI 1t 2 v e I vZa 3 v 3 a)Zv
21
m m m m m m m I *
The dimensionless aerodynamic coefficients are functions of nmany
dimensionless power products, including the dimensionless shape
parameters, Reynolds number and Mach nunmber. Aerodynamic coeffi-
cients are defined with reference to a specific set of shape parameters
and may be expressed as functions of Mach number.
CONCLUSIONS
A modified, point-mass mathematical model has been developed
which incorporates an estimate of the yaw of repose. This improved
mathematical model has the desirable feature of representing the- effects
of the significant variables of yaw of repose and axial spin along the tra-
jectory. By the incorporation of this yaw of repose, the factors (ballis-
tic coefficient, yaw drag factor and lift factor) used to match empirical
results have been found to vary little from theoretically determined
values over the spectrum of conditions.
In comparisons between the rigid body mathematical model, the
most complete representation available, and point-mass representa-
tion, the modified point-mass model accounted for better than 90
percent of the discrepancies in the time-dependent variables range,
height and deflectior. These comparisons were made for spin-
stabilized artillery Lourds currently being used by the U. S. Army.
The modified point-mass model solution required only approximately
twice the computation time of the point-mass solution while the rigid
body solution requites about one hundred to one thousand times that
of the point-mass solution.
22
REFERENCES
1. Lieske, R. F., and McCoy, R. L., Equations of Motion of a Rigid
Projectile, BRL Report No. 1244, March 1964.
2. McShane, E. J., Kelley, J. L., and Reno, F., Exterior Ballistics.
University of Denver Press, 1953.
23
UnclassifiedSecurity Classification
DOCUMENT CONTROL DATA- R&D(Security claeusfication of title, body of abstract and indexing annotation muet be entered when the overall report is claseified)
I. ORIGINATING ACTIVITY (Corporate author) 2a. REPORT SECURITY C LASSIFICATION
U.S. Army Ballistic Research Laboratories Unclassified .Aberdeen Proving Ground, Maryland 2b. GROUP
3. REPORT TITLE
EQUATIONS OF MOTION FOR A MODIFIED POINT MASS TRAJECTORY
4. DESCRIPTIVE NOTES (Type of report and inclusive date&)
5. AUTHOR(S) (Last name. first name, initial)
Lieske, Robert F. and Reiter, Mary L.
6. REPORT DATE 17a. TOTAL NO. OF PAnFS 7b. NO. OF REFS
March 1966 26= 2Be. CONTnACT OR GRANT NO. 9s. ORIGINATOR'S REPORT NUMSER(S)
b. PROJECT NO. RDT&E 1P523801A287 Report No. 131h
C. 9b. OTHER REPORT NO(S) (Any othernumbers that may be vsaignedthis report)
d.
10. A VA ILAS6LITY/LIMITATION NOTICES
Distribution of this document is unlimited.
I1. SUPPLEMENTARY NOTES 12. SPONSORING MILITARY ACTIVITY
U.S. Army Materiel CommandWashington, D.C.
13. ABSTRACT
A modified point mass mathematical model,which incorporates an estimate of theyaw of repose, has been developed to represent the flight of a spin stablized,dynamically stable, artillery shell. This improved mathematical model has thedesirable feature of representing the effects of the significant variables ofyaw of repose and axial spin along the trajectory.
DD I JAN 64 1473 UnclassifiedSecurity Classification
UnclassifiedSecurity Classification
14.KEY WORDS LINK A LINK B LINK CK WORDS ROLE WT ROLEI WY ROLE WT
Equations of motionPoint mass mathematical modelEstimate of the yaw of reposeAxial spin
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