multidisciplinary control law design - matlab & simulink
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Multidisciplinary Control Law Design Process Using Mathworks ToolsNomaan Saeed
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Typical Design ProcessTypical Design Process
Design data are passed from one group to another in an iterative loop
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‘Improved’ Design Process‘Improved’ Design Process
Design elements are captured in a concurrent design environment
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Control Law Design ProcessControl Law Design Process
1) Define control requirements
2) Design control law structure
3) Specify operating points within the flight envelope
4) Generate linear models at each operating point
5) Add control system models
6) Conduct control law synthesis at each operation point – the analysis contained in step 8) is now performed concurrently using the gains from the point designs
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Control Law Design Process (cont’d)Control Law Design Process (cont’d)
7) Build gain schedules for the complete flight envelope
8) Based on a gains scheduled control law conduct stability analysis with rigid and flexible body dynamics and nonlinear simulations
9) Conduct pilot-in-the-loop simulations
10) Specify flight SW requirements
11) Perform flight control system SW and HW testing
12) Conduct flight test
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Control Law Design Task FlowControl Law Design Task Flow
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Disciplines Which Affect Control Law DesignDisciplines Which Affect Control Law Design
• Control dynamics/control law design
• Aerodynamics - flight mechanics and performance
• Handling qualities
• Flight operations
• Propulsion
• Structural dynamics and loads
• Simulation engineering
• Electrical and electronic systems
• Mechanical systems
• Software engineering
• Safety engineering
• Certification engineering
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Gulfstream Control Law Design and Analysis ToolGulfstream Control Law Design and Analysis Tool
• GUI designed in MATLAB®
• GUI works with Simulink® models
• Design requirements are incorporated in tool
• Control law synthesis
• Parameter variations are easily performed
• Stability/performance analysis
• Handling qualities analysis
• Aeroservoelastic analysis
• Gust/turbulence response analysis
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Typical Product Cycle / Use of SimulationTypical Product Cycle / Use of Simulation
Conceptual /Preliminary Design
Detailed Design
Rig Test / Validation
Flight Test / Certification
Product Support
12 Months 18 Months 18 Months 12 Months …years
• Trade Studies• Verification of Key Performance Parameters
• Design Optimization (Weight, Cost, Performance)• Robustness of Design (Sensitivities, Prediction {Failures}, Reqts. Validation)• Insight to Design (Risk Avoidance, Integration Evaluation)
• Test Planning Guidance• Instrumentation Optimization• Problem Diagnostics – Prescribe Solutions
• Problem Diagnostics• Match + Envelope Expansion w/o test• Certification by Analysis
• Problem Diagnostics
Use of simulation typically reduces as
prototype test and real hardware becomes
available
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Simulation / Key AttributesSimulation / Key Attributes
Conceptual /Preliminary Design
Detailed Design
Rig Test / Validation
Flight Test / Certification
Product Support
12 Months 18 Months 18 Months 12 Months …years
• Robustness – meaningful results for wide range of inputs• Flexibility – able to quickly compile integrated models from readily available component models
• Accuracy – accurate results • Credibility – high degree of confidence in results• Adaptability – able to change “tweak” models quickly
• Sensitivity – flexibility to vary inputs• Efficiency – prototype tests are “preferred” option
• Validity – ability to prove validation• Repeatability – formal process / cert
• Timeliness – NOW !
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Mathworks Tools Used In Control Law Design & Analysis ProcessMathworks Tools Used In Control Law Design & Analysis Process
• Simulink
• Matlab
• Control System Toolbox
• Robust Control Toolbox
• Aerospace Blockset/Toolbox
• Optimization Toolbox
• Real Time Workshop
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High Fidelity Nonlinear Simulation - SimulinkHigh Fidelity Nonlinear Simulation - Simulink
Cockpit controlsFCC
Sensors
Actuators
Engine Aircraft Model
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Simulation building blocksSimulation building blocks
• Cockpit Controls– Primary control inceptors– Throtles– Flap, gear, speedbrake
handles• Sensor Models
– Inertial Measurement Unit– Angle of Attack/Sideslip
Sensor Model• Flight Control Computer
– Voting logic– Control law– Processing delays
• Actuator Models– Control surface actuator
models
• Engine model– System delays– Engine spooling
• Aircraft model– Aerodynamics build-up– Equations of Motion– Propulsion model– Ground Reaction Model– Wind/Turbulence Model
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Aircraft Dynamics Model - SimulinkAircraft Dynamics Model - Simulink
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CASE OverviewCASE Overview
• CASE – Conceptual Advanced Simulation Laboratory– COTS all software lab environment
• Development driven by engineering needs– Advanced flight displays and symbology – Control law design process
• Utilization– Control system design integration– Rapid prototyping with the pilot in the loop– Handling qualities evaluation– Entertainment for the engineering staff
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CASE OverviewCASE Overview
• CASE Features– Cockpit emulation
• Throttles• Primary control inceptors• Primary flight displays• Flap and gear handles• Speedbrake handle
– Out-the-window visuals– High fidelity aircraft and
systems models• Reference Modeling• Real-Time Workshop®
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CASE – Simulation ValidationCASE – Simulation Validation
RECORD
`
Offline Simulation(ASIM)
CASE Flight Deck
CASE Simulation
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ConclusionConclusion
• Accelerated development• Realistic flight test preparation environment• Modular simulation• Reconfigurable simulation
Multidisciplinary control law design process leads to an efficient, reliable, and cost effective solution.