Variable Stability Learjet

In-Flight Simulator
Capabilities
Paul Schifferle

Flight Test & Aircraft Operations

Wind Tunnel Testing

Vehicle Crash Testing & Investigations

Variable Stability Aircraft and In-Flight Simulators

Variable Stability Aircraft
Permit in-flight variation of aircraft flying
qualities
Allow pilots to determine the suitability of
these characteristics
In-Flight Simulator (IFS)
Extension of variable stability aircraft to
fully represent another aircraft
Extension of ground-based simulators to
real flight environment
Real world spatial environment
Fully representative motion cues
Calspan Corporation 2014

Variable Stability In-Flight Simulator Learjets

Programmable interface to full-authority Fly-by-Wire (FBW)
flight control system
4 degree-of-freedom In-Flight Simulation (IFS) capability
Pitch
Roll
Yaw
Throttles
Safety Features
Automatic Safety Trip System
Experienced Safety Pilots
Accelerated Maintenance Program
Calspan Corporation 2014

Calspan Fleet of IFS Learjets

Lear 1 (N101VS)
Model 24D
1st Flight 1981
Lear 2 (N102VS)
Model 25B
1st Flight 1991
Lear 3 (N203VS)
Model 25D
1st Flight 2007
Lear 4 (N515TC)
Model 25D
1st Flight 2014
Calspan Corporation 2014

Uses of Learjet In-Flight Simulators

Original Design Missions
Test Pilot Training
Handling Qualities Research
Development of New Piloted Aircraft
Upset Recovery Training
Unmanned Air Vehicle (UAV) Surrogacy
Autonomous Aerial Refueling (AAR)
Sense and Avoid (SAA)
Remotely Piloted Aircraft (RPA)

Calspan Corporation 2014

UAV Surrogacy

Calspan Corporation 2014

Progression to Autonomous Control of Air Vehicles

Learjet with
Reversible FCS

Calspan
Programmable
FBW FCS

Calspan Corporation 2014

Highly Augmented
Learjet for Manned Ops

Progression to Autonomous Control of Air Vehicles (contd)

Evaluation Pilot
Sensors
Highly Augmented
Learjet

Calspan UAV Surrogate

Calspan Corporation 2014

Benefits of Learjet IFS UAV Surrogate

Replicate flight dynamics of UAV being simulated
Aircraft modified with actual UAV sensors and associated
equipment
Full-authority programmable FBW flight control system
Can safely and efficiently conduct RDT&E early in
development
Calspan safety pilots onboard to take control as required

Calspan Corporation 2014

Aircraft State Data

Calspan Corporation 2014

Symbol
p dot
q dot
r dot
p
q
r
phi
theta
psi
psi m
sin phi
cos phi
sin theta
cos theta
sin psi
cos psi
sin psi m
cos psi m
nx
ny
nz
nxp
nyp
nzp
Vt
alpha vc
beta vc
Vt cf
alpha cf
beta cf
Vt dot i
alpha dot i
beta dot i
Vt dot cf
alpha dot cf
beta dot cf
Vt gust
alpha gust
beta gust
sin alpha cf

Description
Roll Acceleration
Pitch Acceleration
Yaw Acceleration
Roll Rate
Pitch Rate
Yaw Rate
Roll Attitude
Pitch Attitude
True Heading
Magnetic Heading
Sine of Roll Attitude
Cosine of Roll Attitude
Sine of Pitch Attitude
Cosine of Pitch Attitude
Sine of True Heading
Cosine of True Heading
Sine of Magnetic Heading
Cosine of Magnetic Heading
Longitudinal Load Factor
Lateral Load Factor
Normal Load Factor
Longitudinal Load Factor at Pilot Station
Lateral Load Factor at Pilot Station
Normal Load Factor at Pilot Station
True Airspeed from Air Data System
Vane Corrected Angle of Attack
Vane Corrected Angle of Sideslip
Complimentary Filtered True Airspeed
Complimentary Filtered Angle of Attack
Complimentary Filtered Angle of Sideslip
Inertial True Airspeed Rate
Inertial Angle of Attack Rate
Inertial Sideslip Rate
Complimentary Filtered True Airspeed Rate
Complimentary Filtered Angle of Attack Rate
Complimentary Filtered Sideslip Rate
True Airspeed Gust Component
Angle of Attack Gust Component
Angle of Sideslip Gust Component
Sine of Complimentary Filtered Angle of Attack

Calspan Corporation 2014

Units
deg/s/s
deg/s/s
deg/s/s
deg/s
deg/s
deg/s
deg
deg
deg
deg
g
g
g
g
g
g
ft/s
deg
deg
ft/s
deg
deg
ft/s/s
deg/s
deg/s
ft/s/s
deg/s
deg/s
ft/s
deg
deg
-

Symbol
cos alpha cf
sin beta cf
cos beta cf
u
v
w
Ax
Ay
Az
qc
Vc
qbar
Ve
Mach
T0
Ta
rho
p0
a
ps
hp
hp cf
h cf
qnh
h radar
h ddot i
h gust
h dot
gamma
l1
l2
l3
m1
m2
m3
n1
n2
n3
phi dot
theta dot

Description
Cosine of Complimentary Filtered Angle of Attack
Sine of Complimentary Filtered Angle of Sideslip
Cosine of Complimentary Filtered Angle of Sideslip
Longitudinal Body Axis Airspeed
Lateral Body Axis Airspeed
Normal Body Axis Airspeed
Longitudinal Body Axis Acceleration
Lateral Body Axis Acceleration
Normal Body Axis Acceleration
Impact Pressure
Calibrated Airspeed
Dynamic Pressure
Equivalent Airspeed
Mach Number
Total Air Temperature
Ambient Air Temperature
Air Density
Total Air Pressure
Speed of Sound
Static Air Pressure
Pressure Altitude
Complimentary Filtered Pressure Altitude
Complimentary Filtered Altitude
Altimeter Setting
Radar Altitude
Inertial Vertical Acceleration
Altitude Gust Component
Climb/Sink Rate
Flight Path Angle
Direction Cosine
Direction Cosine
Direction Cosine
Direction Cosine
Direction Cosine
Direction Cosine
Direction Cosine
Direction Cosine
Direction Cosine
Roll Attiude Rate
Pitch Attitude Rate

Units
ft/s
ft/s
ft/s
ft/s/s
ft/s/s
ft/s/s
psf
knots
psf
knots
K
K
slug/cuft
psf
ft/s
psf
ft
ft
ft MSL
in Hg
ft AGL
ft/s/s
ft
ft/s
deg
deg/s
deg/s

Symbol
psi dot
de
da
dr
dthl
dthr
dfcl
dfcr
dxl
dxr
ds
flap
gear
spoiler
WOW
delta pe
delta pa
delta pr
de err
da err
dr err
dthl err
dthr err
total fuel
fuse fuel
m
W
Ixx
Iyy
Izz
Ixy
Ixz
Iyz
x cg
y cg
z cg
x cg mac
nav valid
nav fresh
lat

Description
Turn Rate
Elevator Positon
Aileron Position
Rudder Position
Left Throttle Servo Position
Right Throttle Servo Position
Left Fuel Control Lever
Right Fuel Control Lever
Left Engine Thrust
Right Engine Thrust
Stabilizer Position
Flap Position
Landing Gear Status
Spoiler Status
Weight On Wheels
Elevator Delta Pressure
Aileron Delta Pressure
Rudder Delta Pressure
Elevator Servo Error
Aileron Servo Error
Rudder Servo Error
Left Throttle Servo Error
Right Throttle Servo Error
Total Fuel Weight
Weight of Fuel in Fuselage Tank
Aircraft Mass
Aircraft Weight
Roll Moment of Inertia
Pitch Moment of Inertia
Yaw Moment of Inertia
Roll-Pitch Product of Inertia
Roll-Yaw Product of Inertia
Pitch-Yaw Product of Inertia
Fuesalge Station CG Location
Butt Line CG Location
Water Line CG Location
CG Location as Percent of Mean Aerodynamic Chord
Navigation Valid
Navigation Fresh
Latitude

Calspan Corporation 2014

Units
deg/s
deg
deg
deg
deg
deg
deg
deg
lb
lb
deg
deg
0 or 1
0 or 1
0 or 1
psi
psi
psi
deg
deg
deg
V
V
lb
lb
slug
lb
slug-sqft
slug-sqft
slug-sqft
slug-sqft
slug-sqft
slug-sqft
in
in
in
%
0 or 1
0 or 1
deg

Symbol
lon
nav h
Vn
Ve
Vu
mag var
track
Vg
nav time
diff corr
num sat
stear valid
bearing
range
dtk
xte
dtk next
w speed
w dir
w dir m
loc dev
gs dev

Description
Longitude
GPS Altitude
Velocity North
Velocity East
Velocity Up
Magnetic Variance (East)
True Ground Track
Groundspeed
Navigation Time
Differential Correction
Number of Satellites
Steering Valid
Waypoint True Bearing
Waypoint Range
Desired True Track
Cross Track Error (Left)
Next Desired True Track
Windspeed
True Wind Direction
Magnetic Wind Direction
Localizer Deviation
Glideslope Deviation

Units
deg
ft
ft/s
ft/s
ft/s
deg
deg
ft/s
sec
0 or 1
0 or 1
deg
nm
deg
nm
deg
knots
deg
deg
dots
dots

Safety Trip System

Calspan Corporation 2014

Learjet Modes of Operation

Basic Aircraft
Manual control by left seat Calspan safety pilot
Retains production Learjet reversible controls
Safety pilot flies the aircraft when the VSS is disengaged
Variable Stability System (VSS)
Aircraft controlled by VSS driving surface actuators
Control by right seat evaluation pilot, inputs from onboard
sensors or data link
Safety trip system enabled
Emergency Fly-By-Wire
Enables evaluation pilot to fly Learjet home if safety pilot
incapacitated
Reduced VSS mode using fixed gains with basic Learjet
characteristics optimized for landing
Safety trip system disabled
Calspan Corporation 2014

Safety Trip System

Automatic safety trips
Preset threshold level and persistence
Keeps aircraft dynamic response well within actual airframe
limitations
Surface hardover protection
System failures
Manual safety trips initiated by either pilot
Trip results in VSS disengagement
Control surface and feel actuators are disengaged by
removing hydraulic pressure
Control of aircraft immediately reverts to safety pilot
Accompanied by aural and visual cues in the cockpit
Calspan Corporation 2014

List of Automatic Safety Trips

Protection on Servos
Surface servo errors
Surface servo differential pressure
Throttle servo errors
Throttle differential
Feel system servo errors
Protection on Flight Condition
Lateral load factor (ny)
Normal load factor (nz)
Angle of attack
Top tail rolling moment
System Monitoring
Flight control computer heartbeat
Flight control computer safety trips
Low hydraulic fluid level
Attitude gyro flag
Autopilot/yaw damper engaged
Calspan Corporation 2014

2 (e) 6 (a, r), 10 ms

850 psi, 10 ms
1.7, 100 ms
25.3, 100 ms
0.5 in (stick) 0.25 in (pedals), 20 ms
0.3g, 20 ms
+0.25g to +2.8g, 20 ms
-5 to +12, 20 ms
7900 ft-lb, 20 ms (sideslip, rudder, airspeed)
discrete, 120 ms
discrete, 0 ms
discrete, 0 ms
discrete, 40 ms
discrete, 0 ms

Manual VSS Disengage Buttons in Cockpit

Calspan Corporation 2014

Backup FBW Mode

In the unusual circumstance that the safety pilot is
incapacitated or a control cable breaks, the aircraft can be
flown by the evaluation pilot by engaging the backup FBW
mode
The feel and control surface system gains are fixed and
optimized for landing configuration
The handling characteristics are basic Learjet with yaw
damper ON
No aircraft state feedback is used (except for yaw
damping)
Safety trip system is disabled (automatic and manual)
Calspan Corporation 2014