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Effect
Lateral Control Divergence
Parameter (LCDP)
Aileron deection produces yawing as well as rolling moment
Favorable yaw aids the turn command
Adverse yaw opposes it
Equilibrium response to constant aileron input
!"
S
!#A
S
=
N
$
+ N
r
Y
$
V
N
%
&
'
(
)
*L
#A
+ L
$
+ L
r
Y
$
V
N
%
&
'
(
)
*N
#A
g
V
N
L
$
N
r
+ L
r
N
$ ( )
Large-enough N
$A
effect can reverse the sign of the response
Can occur at high angle of attack
Can cause departure from controlled ight
Lateral Control Divergence Parameter provides simplied criterion
LCDP ! C
n
"
#
C
n
$A
C
l
$A
C
l
"
N
!
( )
L
" A
# L
!
( )
N
" A
L
" A
= N
!
#
N
" A
L
" A
L
!
#
%
/#
d
Effect
Aileron-to-roll-angle transfer function
!"(s)
!#A(s)
=
k
"
s
2
+ 2$
"
%
"
s +%
"
2
( )
s &'
S
( ) s &'
R
( ) s
2
+ 2$
DR
%
n
DR
s +%
n
DR
2
( )
#
!
is the natural frequency of the complex zeros
#
d
= #
nDR
is the natural frequency of the Dutch roll mode
Conditional instability may occur with closed-
loop control of roll angle, even with a perfect pilot
#
!
/#
Effect
As feedback gain increases, Dutch roll roots go to numerator zeros
If zeros are over poles, conditional instability results
!"(s)
!#A(s)
=
k
"
s
2
+ 2$
"
%
"
s +%
"
2
( )
s &'
S ( ) s &'
R ( ) s
2
+ 2$
DR
%
nDR
s +%
nDR
2
( )
!/" Effect
!/" measures the degree of rolling response in the
Dutch roll mode
Large !/": Dutch roll is primarily a rolling motion
Small !/": Dutch roll is primarily a yawing motion
Eigenvectors, e
i
, indicate the degree of participation
of the state component in the i
th
mode of motion
det sI ! F ( ) = s ! "
1
( ) s ! "
2
( )... s ! "
n
( )
"
i
I ! F ( )e
i
= 0
Eigenvectors
Eigenvectors, e
i
, are solutions to the equation
!
i
I " F ( )e
i
= 0, i = 1, n
or
!
i
e
i
= Fe
i
, i = 1, n
For each eigenvalue, the corresponding eigenvector
can be found (within an arbitrary constant) from
Adj !
i
I " F ( ) = a
1
e
i
a
2
e
i
a
n
e
i ( )
, i = 1, n
MATLAB
V, D ( ) = eig F ( )
V: Modal Matrix (i.e., Matrix of Eigenvectors)
D: Diagonal Matrix of Corresponding Eigenvalues
!/" Effect
With &
i
chosen as a complex root of the Dutch roll mode,
the corresponding eigenvector is
e
DR+
=
e
r
e
!
e
p
e
"
#
$
%
%
%
%
%
&
'
(
(
(
(
(
DR+
=
) + j* ( )
r
) + j* ( )
!
) + j* ( )
p
) + j* ( )
"
#
$
%
%
%
%
%
%
&
'
(
(
(
(
(
(
DR+
=
AR e
j"
( )
r
AR e
j"
( )
!
AR e
j"
( )
p
AR e
j"
( )
"
#
$
%
%
%
%
%
%
%
&
'
(
(
(
(
(
(
(
DR+
!/" is the magnitude of the ratio of the ! and " eigenvectors
!
"
=
AR ( )
!
AR ( )
"
=
V
N
g
#
$
%
&
'
(
)
DR
*
n
DR
+
Y
"
V
N
+
L
"
L
r
#
$
%
&
'
(
2
+ *
n
DR
1+)
DR
2
( )
,
-
.
.
/
0
1
1
1
2
!/" Effect for the Business
Jet Example
e
DR+
=
e
r
e
!
e
p
e
"
#
$
%
%
%
%
%
%
%
&
'
(
(
(
(
(
(
(
DR+
=
0.525
0.416
0.603
0.433
#
$
%
%
%
%
&
'
(
(
(
(
DR+
!
"
= 1.04
Roll/Sideslip Angle ratio in the Dutch roll mode
Early Lateral-Directional
Flying Qualities Criteria
T
1
2
= 0.693 / ! "
n
v = V
N
#
OHara, via Etkin
Ashkenas, via Etkin
Time to Half
Criteria for Lateral-Directional
Modes (MIL-F-8785C)
Maximum Roll-
Mode Time
Constant
Minimum
Spiral-Mode
Time to Double
Minimum Dutch Roll Natural
Frequency and Damping (MIL-F-8785C)
Pilot-Vehicle Interactions
Pilot-Induced Roll Oscillation
!"(s)
!#A(s)
pilot in loop
=
K
p
/ T
p
s + 1 / T
p
$
%
&
'
(
)
k
"
s
2
+ 2*
"
+
"
s + +
"
2
( )
s , -
S
( ) s , -
R
( ) s
2
+ 2*
DR
+
n
DR
s + +
n
DR
2
( )
.
/
0
0
1
2
3
3
Aileron-to-Roll Angle
Root Locus Pilot-Aircraft Nichols Chart
Pilot Transfer Function Aircraft Transfer Function
YF-16
YF-17 Landing
Approach Simulation
Original design
Low short-period natural
frequency
Overdamped short period
Rapid roll-off of phase angle
PIO tendency, CHR = 10
Elevator-to-pitch angle Nichols
chart (gain vs. phase angle)
80
Phase
Margin
Gibson, 1997
Revised DFCS design
Higher short-period natural
frequency
Lower short-period damping
Reduced time delay in DFCS
CHR = 2
Input frequency,
rad/s
13 dB
Gain
Margin
Alternative pilot transfer function:
gain plus pure time delay
H j! ( )
pilot
= K
P
e
" j!#
Gain = constant
Phase angle linear in frequency
As input frequency increases, !(#)
eventually > 180
But Stability Margins Were Large
How Could CHR = 10?
K
P
e
! j"#
= K
P
! K
P
e
! j"#
( )
= !j"#
H s ( )
pilot
=
!u s ( )
!" s ( )
= K
P
e
#$ s
Inverse
Problem of
Lateral Control
Given a ight path, what
is the control history that
generates it?
Necessary piloting
actions
Control-law design
Aileron-rudder
interconnect (ARI)
simplies pilot input
Grumman F-14 Tomcat
Yaw Angle Roll Angle
Lateral-Stick
Command
Angle of attack (') =
10 deg; ARI off
' = 30 deg; ARI off
' = 30 deg; ARI on
Stengel, Broussard, 1978
Flight Control System
Design
Control System
Design Methods
Linear-quadratic (LQ) regulator
Pole placement
Parametric optimization
Nonlinear inverse dynamics
Neural networks
Noisy, incomplete measurements
State observer
Kalman lter (optimal estimator)
Assume Gaussian errors
Combine with LQ regulator
LQG regulator
Control at all points in ight envelope
Robustness
Gain scheduling
Adaptive control
Proportional Stability Augmentation
with Command Input
!u t ( ) = C
F
!y
C
t ( ) " C
B
!x t ( )
Section 4.7, Flight Dynamics
dim !u t ( ) "
#
$
%
= m &1; dim !x t ( ) "
#
$
%
= n &1
dim !y
C
t ( ) "
#
$
%
= r &1, r ' m
dim C
F [ ] = m & r; dim C
B [ ] = m & n
Full state feedback
Command = desired output
r (% m) components
Cannot have more independent command inputs,
!y
C
(t), than independent control inputs, !u(t)
Proportional Stability Augmentation
with Command Input
!! x t ( ) = F!x t ( ) + G!u t ( )
!y t ( ) = H
x
!x t ( ); H
u
" 0
!u t ( ) = C
F
!y
C
t ( ) " C
B
!x t ( )
!! x t ( ) = F!x t ( ) + G C
F
!y
C
t ( ) " C
B
!x t ( ) #
$
%
&
= F " GC
B
!x t ( ) #
$
%
&
!x t ( ) + GC
F
!y
C
t ( )
= F
CL
!x t ( ) + G
CL
!y
C
t ( )
Satisfy ying qualities criteria by adjusting
gains of the closed-loop command/stability
augmentation system
Section 4.7, Flight Dynamics
Dynamics and Control Substitute Control in Dynamic Equation
Eigenvalues
Root loci
Transfer functions
Bode plots
Nichols charts
...
Next Time:
Maneuvering and Aeroelasticity
Reading
Flight Dynamics, 681-785
Virtual Textbook, Part 21
Supplemental
Material
Large Aircraft Flying Qualities
High wing loading, W/S
Distance from pilot to rotational center
Slosh susceptibility of large tanks
High wing span -> short relative tail length
Higher trim drag
Increased yaw due to roll, need for rudder
coordination
Reduced rudder effect
Altitude response during approach
Increased non-minimum-phase delay in
response to elevator
Potential improvement from canard
Longitudinal dynamics
Phugoid/short-period resonance
Rolling response (e.g., time to bank)
Reduced static stability
Off-axis passenger comfort in BWB turns
Criteria for Oscillations and Excursions
(MIL-F-8785C)
Criteria for Oscillations and Excursions
(MIL-F-8785C)
Proportional-Integral Command and
Stability Augmentation
!u t ( ) = C
F
!y
C
t ( ) " C
I
!y t ( ) " !y
C
t ( ) #
$
%
&
dt
'
" C
B
!x t ( )
Section 4.7, Flight Dynamics
Full state feedback
Command = desired output
r (% m) components
Integral compensation eliminates long-term (bias) errors
Proportional-Integral Command and
Stability Augmentation
!! x t ( ) = F!x t ( ) + G!u t ( )
!y t ( ) = H
x
!x t ( ); H
u
" 0
!u t ( ) = C
F
!y
C
t ( ) " C
I
!y t ( ) " !y
C
t ( ) #
$
%
&
dt
'
" C
B
!x t ( )
!! x t ( ) = F!x t ( ) + G C
F
!y
C
t ( ) + C
I
!y t ( ) " !y
C
t ( ) #
$
%
&
dt
'
" C
B
!x t ( ) { }
= F " GC
B [ ]!x t ( ) + G C
F
!y
C
t ( ) + C
I
!y
C
t ( ) " H
x
!x t ( ) #
$
%
&
dt
' { }
Section 4.7, Flight Dynamics
Dynamics and Control
Substitute Control in Dynamic Equation
Proportional-Integral
Command and Stability
Augmentation
!y t ( ) = H
x
!x t ( ); H
u
! 0
!" t ( ) ! !y
C
t ( ) # !y t ( ) $
%
&
'
dt
(
= !y
C
t ( ) # H
x
!x t ( ) $
%
&
'
dt
(
!
!
" t ( ) " !y
C
t ( ) # H
x
!x t ( )
!! x t ( ) = F
CL
!x t ( ) + GC
F
!y
C
t ( ) + GC
I
!" t ( )
!! x t ( )
!
!
" t ( )
#
$
%
%
&
'
(
(
=
F
CL
GC
I
)H
x
0
#
$
%
%
&
'
(
(
!x t ( )
!" t ( )
#
$
%
%
&
'
(
(
+
G
CL
I
#
$
%
%
&
'
(
(
!y
C
t ( )
Section 4.7, Flight Dynamics
Dene integral state, !#(t)
dim[!#(t)] = dim[!y(t)]
Augmented dynamic equation
Proportional-Integral
Command and Stability
Augmentation
Satisfy ying qualities criteria by adjusting gains of the
closed-loop command/stability augmentation system
New modes of motion in augmented system
Eigenvalues
Root loci
Transfer functions
Bode plots
Nichols charts
...
!" t ( ) !
!x t ( )
!# t ( )
$
%
&
&
'
(
)
)
; dim !" t ( ) $
%
'
(
= n + r ( ) *1
!! " t ( ) = F
CL
' !" t ( ) + G
CL
' !y
C
t ( )
Dene augmented
state vector
Standard form
dynamic equation
Proportional-Filter Stability
Augmentation with Command Input
!u t ( ) = + C
F
!y
C
t ( ) " C
B
!x t ( ) " "C
I
!u t ( ) #
$
%
&
dt
'
Section 4.7, Flight Dynamics
Flight Testing Videos
http://www.youtube.com/watch?v=GXdJxjvQZW4
http://www.youtube.com/watch?v=t6DdlPoPOE4
http://www.youtube.com/watch?v=j85jlc1Zfk4