Strumpf 



The longitudinal propulsive force x^ is used in both cruising and hovering 

 operations, and the vertical bow and stern thrust forces ^^^ and z^ with longitu- 

 dinal coordinates x^ and -xj,, respectively, are used in hovering operations. 

 The movable elevators are used for control in cruising flight. 



Under the above assumptions, the motion equations are as follows: 



(a) AjU + A2W + A3(9+ k^ub \ k^\\x\'d "f AgWi9 + A^uU + AgwU + AgWu + k^^O'^ 



+ Aii|(9|0 + Aj2 sin + A^j cos d + Aj^S|u|u = X^. 



(b) BjU + B2W + B^'S + B4U^+ B5|u|6'+ BgW(9 + B^uU + BgwU + Bgwu + B^^'O^ 



+ Bii\'6\d + B12 sin 9 + Bjj cos 6 + Bj^Slulu = Z^, 



(c) CiU + C2W + C^6 + C^u'e + Cslul^H- CgW(9 + C^uU + CgwU + CgWu + Cjo^^ 



+ Cii|i9|(9 + Cj2 sin d + C^j cos d + Ci^SJulu = M^, 



where 



''o - dr 



•'0 



f ^ 



^o - dr 



dr + x^(0) (c) 



dr + z„(0) (d) 



U = (u^+ w^) (e) 



and 



(1) 



Xc = axl"xl"x + b^ln^lu (a) 



Zc = Zs + Zb (b) (2) 



Mc = ''b(Zs-Zb) (c) 



Xq = u COS (9 + w sin 6 + Uf (a) 



z^ = -u sin 6 + vj cos (9 + Wj (b) 



(3) 



A, = m - ^klX: B, = m - 4 A-tZ! C. = C. = oiZq 



(4) 

 A3 = mzQ B3 = -mXQ Cj - -C4 - -mxQ (Cont.) 



A, = m - I A^X;^ B, = - (m + I A-^Z' ) C3 = I^y - 4 A^'M.' 



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