feed-back flight control law design · folie 18 > vortrag > autor dokumentname > datum ....
TRANSCRIPT
![Page 1: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/1.jpg)
1 Vortrag > Autor > Dokumentname > Datum
Feed-back flight control law design Handling (severe) atmospheric disturbances Gertjan Looye, Thomas Lombaerts, Nir Kastner, Thiemo Kier, Jan Kladetzke System Dynamics and Control Robotics and Mechatronics Center (RMC) [email protected]
![Page 2: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/2.jpg)
2
Overview
Motivation Control law architecture Atmospheric disturbances Flight tests Conclusions
Vortrag > Autor > Dokumentname > Datum
![Page 3: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/3.jpg)
3
Overview
Motivation Control law architecture Atmospheric disturbances Flight tests Conclusions
Vortrag > Autor > Dokumentname > Datum
![Page 4: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/4.jpg)
4
Motivation Scope: address turbulence, wind shear, wake vortices … … in and by design of feedback control laws
NO disturbance prediction Design aspects …
Vortrag > Autor > Dokumentname > Datum
![Page 5: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/5.jpg)
5
Design aspects: example 1
Vortrag > Autor > Dokumentname > Datum
Flight Control Laws
Short-scale turbulence
• Sensor signal “quality” • Control activity
• Airframe structure • Passenger comfort
![Page 6: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/6.jpg)
6
Design aspects: example 2
Vortrag > Autor > Dokumentname > Datum
Flight Control Laws
Moderate turbulence
• Tracking performance • Control activity • System performance limits • Airframe loads • Passenger comfort …
![Page 7: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/7.jpg)
7
Design aspects: example 3
Vortrag > Autor > Dokumentname > Datum
Flight Control Laws
Wind shear Wake vortices
• Tracking performance • Aircraft performance limits → Priorities and Protections!!
![Page 8: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/8.jpg)
8
Motivation Scope: address turbulence, wind shear, wake vortices … … in and by design of feedback control laws Design aspects … State of the art:
Addressing these issues is current practice to a certain extent Mostly neglected in modern design methods These introduce new challenges … … as well as many new possibilities
Vortrag > Autor > Dokumentname > Datum
![Page 9: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/9.jpg)
9
Overview
Motivation Control law architecture Atmospheric disturbances Flight tests Conclusions
Vortrag > Autor > Dokumentname > Datum
![Page 10: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/10.jpg)
10 Vortrag > Autor > Dokumentname > Datum
Control law architecture
Common platform for various projects: • Basic manual and auto flight: Weather & Flying • Handling of atmospheric disturbances Weather & Flying • GPS/GBAS-based automatic landing: TOPGAL • Control saturation handling: WTF • Control law rapid prototyping: VAMP / FaUSST
![Page 11: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/11.jpg)
11
Overview
Motivation Control law architecture Atmospheric disturbances Flight tests Conclusions
Vortrag > Autor > Dokumentname > Datum
![Page 12: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/12.jpg)
12 Vortrag > Autor > Dokumentname > Datum
W&F focus: control law design
Sensor data fusion, estimation
Control law tuning (multi-objective optimisation)
Command variable selection
Handling control saturation
Use of additional control surfaces
![Page 13: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/13.jpg)
13
Overview
Motivation Control law architecture Atmospheric disturbances Flight tests Conclusions
Vortrag > Autor > Dokumentname > Datum
![Page 14: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/14.jpg)
14 Vortrag > Autor > Dokumentname > Datum
Flight tests
Flight 1: helix manoeuvres
Flight 2: manual control laws Flight 3: all up, protections Flight 4,5: limit handling Flight 6: all up, DLC Flight 7: wake vortex emulation
![Page 15: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/15.jpg)
15
Flight 1: spiral approaches to EDVE RWY26
Vortrag > Autor > Dokumentname > Datum
![Page 16: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/16.jpg)
16 Folie 16 > Vortrag > Autor
Dokumentname > Datum
Turning flight in constant wind
µtan2
mgrmV
helix
= µtan2
=helixgr
V
0 100 200 30010
15
20
25
30
Track angle χ [deg]
Ban
k an
gle µ
[deg
]
No WindWind 20 kts, χW=0
1
2 3
1
4
0 2000 4000 6000
-5000
-4000
-3000
-2000
-1000
0
1000
X [m]
Y [m
]
Constant bank angle
Adapting bank angle
rhelix
mg
mg/cos(µ)
mV2
rhelix
µSimplification: Level flight
V not constant!
![Page 17: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/17.jpg)
17 Folie 17 > Vortrag > Autor
Dokumentname > Datum
Flight 1: velocities
0 100 200 300 400 500 60060
65
70
75
80
85
90
95
100
105
time [s]
VC
AS, V
, Vco
mpl [m
/s]
VCAS
VVcompl
Go-around
![Page 18: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/18.jpg)
18 Folie 18 > Vortrag > Autor
Dokumentname > Datum
Flight 1: Roll / side slip angles
0 100 200 300 400 500 600-5
0
5
10
15
20
25
30
35
time [s]
φ , β
[deg
]
Roll angleSide slip angle (sensor)Side slip angle (synth.)
![Page 19: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/19.jpg)
19 Folie 19 > Vortrag > Autor
Dokumentname > Datum
Flight 1: lateral tracking error
0 100 200 300 400 500 600-100
-50
0
50
100
150
time [s]
Late
ral e
rror [
m]
capture
Capture ILS
![Page 20: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/20.jpg)
20
Flight 6: Use of DLC controls for flight path control
Vortrag > Autor > Dokumentname > Datum
Lift via angle of attack (elevator)
Direct Lift via ATTAS DLCs
![Page 21: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/21.jpg)
21 Folie 21 > Vortrag > Autor
Dokumentname > Datum
Flight 6: DLC controls
Undesired effect of ATTAS auto trim
![Page 22: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/22.jpg)
22
Turbulence: simulation (none encountered in flight)
Vortrag > Autor > Dokumentname > Datum
0 10 20 30 40 50 60 70 80-0.5
0
0.5
γ [°
]
0 10 20 30 40 50 60 70 801.6
1.8
2
2.2
2.4
2.6
2.8
3
θ [°
]
time [s]
noDLCDLC
![Page 23: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/23.jpg)
23 Vortrag > Autor > Dokumentname > Datum
Flight 7: emulated wake vortices
+
![Page 24: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/24.jpg)
24
Flight 7: emulated wake vortices
Vortrag > Autor > Dokumentname > Datum
Attitude hold off
Attitude hold on
![Page 25: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/25.jpg)
25
Overview
Motivation Control law architecture Atmospheric disturbances Flight tests Conclusions
Vortrag > Autor > Dokumentname > Datum
![Page 26: Feed-back flight control law design · Folie 18 > Vortrag > Autor Dokumentname > Datum . Flight 1: Roll / side slip angles . 0 100 200 300 400 500 600-5 0 5 10 15 20 25 30 35 time](https://reader034.vdocument.in/reader034/viewer/2022052007/601c1ba53dff0d3680114a97/html5/thumbnails/26.jpg)
26
Conclusions
Integrated manual / automatic flight control system → Flight test validated: wind shears, emulated wake vortices, turbulence → Easy adaptation to different aircraft types → Basis for future work and parallel projects
What‘s next? Integration in IRLIS feedback / feedforward system (next presentation) Wake vortex encounters: → Flight loads effects with feedback control laws → Sensor location effects
Vortrag > Autor > Dokumentname > Datum