hardware-in-the-loop simulation of an aircraft brake system · 1 mathworks aerospace & defense...
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MathWorks Aerospace
& Defense Conference 2006
Hardware-In-the-Loop Simulation of an Aircraft Brake System
Alan Johnson, Andrew N. Hall, Gary McKaySystem Design and IntegrationCessna Aircraft Company
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Outline
• Antiskid Background
• Motivation
• HIL: Hardware; Software
• Antiskid Control
• HIL Tests
• Concluding Remarks
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Cessna makes jets, too.
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Why antiskid?
• Better performance
• Even tire wear
• Directional stability
• Safety
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accumulator
pump brake metering valve
antiskid valve
antiskid control box
pedals
brake
wheel speed transducer
Antiskid Brake System
reservoir
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Experimental Flight Data
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Motivation: • Product improvement
• Smooth ride
• Engineering curiosity
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• Flight test – expensive
• Analytical – slow simulation
• Hybrid – HIL: real-time; cost?
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HIL Simulation
• Already had:
– MATLAB
– Simulink
– Real-Time Workshop
• PIII leftovers
• Compatible A/D – D/A card
• xPC Target
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HIL: Hydraulic components
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HIL: Computer interface
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reservoir
accumulator
pump brake metering valve
antiskid valve
antiskid control box
pedals
brake
VCO Simulink
airplane
Simulink
airplane
HIL Block Diagram
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Simulink airplane model
aero 3 DoFbrake and landing gear
FD = μFz
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brake torquewheel-tire inertia
Wheel-tire equation of motion:
τ = I α
tire-road force
slip velocity
A/D
D/A
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0
0.2
0.4
0.6
0.8
1
0 0.2 0.4 0.6 0.8 1
slip ratio
mu
NASA TN D-1376, Figure 78
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0
0.2
0.4
0.6
0.8
1
0 0.2 0.4 0.6 0.8 1
slip ratio
mu
NASA TN D-1376, Figure 78
50 knots
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0
0.2
0.4
0.6
0.8
1
0 0.2 0.4 0.6 0.8 1
slip ratio
mu
NASA TN D-1376, Figure 78
50 knots
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Some Assumptions and Limitations
• Tire μ, Brake μ
• 3 DoF
• Trailing link gear model
• Ground effect aero
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Antiskid Control Background
• Control logic (black box)
– Input: Wheel speed
– Output: Control current
• Antiskid valve
– Input: Commanded pressure; control current
– Output: Brake pressure
brake metering valve
antiskid controlwheel speed sensor
brakes
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Pressure vs. Control Current
Change control in two ways:
• Electrically
• Hydraulically
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HIL Usefulness
• Cost-effective
• Time-saver
• Multi-purpose