Beruflich Dokumente
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June 23, 2016 6th Symposium on System Structure and Control (SSSC2016)
2
Outline
• Introduction
• Problem Statement
• Fault Tolerant Control Algorithm
• System Modeling
• Simulation Results
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 3
Problem Statement
• Nonlinear Dynamics of Aircraft
Modelling uncertainty,
fault, disturbance etc Measurement Noise
• Physical Constraints on Under-actuated System
• For applying multi-variable SMC, consider a square subset of the output space
,such that the remaining outputs are stable
•
• The above requirement is not conservative if y2(t) can be stabilized as it is common in
aerospace cascaded autopilot design. A slower outer loop for controlling y2(t) which
produces virtual commands in terms of y1(t) can serve as the desired trajectory for a
faster inner loop controlling y1(t). In such a case, the loops have to obey some time scale
separation.
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 6
Model Sliding
Predictive Mode
Control Control Actuators Aircraft Dynamics
(Outer (Inner
Loop) Loop)
Denoising
Sensors
Filters
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 7
System Modeling
• Aircraft model used is the nonlinear model of an F-16, based on extensive
wind-tunnel tests, represented in polynomial form using global nonlinear
parametric modelling based on orthogonal functions.
• Control limits
• Inertial Measurement Unit for linear accelerations, 3σ = 0.06 g, Gyro
measurements for Euler’s angles, 3σ = 0.35°, Air Data Probe providing
measurements of angles of attack and sideslip, 3σ = 0.15° and forward
speed, 3σ=0.1m/s.
• For angular rates, we assumed military grade sensors providing 3σ = 1°/hr
[25]. The sensor noise was simulated as band-limited white noise with
correlation time Tc=10.5ms (much smaller than the system bandwidth).
• The aircraft is flying level initially at a pitch angle of 10°, at a speed of 160
kts and an altitude of 6km.
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 8
System Modeling
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
System
Introduction Literature Review Problem Statement SMC-MPC Algorithm
Modeling
Simulations Conclusion 9
Nominal Model
• We will assume that the Param.
Table 2 Best Estimates of Parametric Values
% Error in Estimate Value (% of nominal values)
by
known with an accuracy of
9.4 2.5 1.5 -8.6 6.7 ---- ---- ----
cy -8.1 4.2 0.7 ---- ---- ---- ---- ----
dy -2.7 3.5 1.3 -6.2 ---- ---- ---- ----
20% only. ey
fy
0.7
-1.4
12.7
-7.0
6.3
2.6
-0.2
-5.9
----
4.1
---- ----
-0.1 ----
----
----
gy -3.5 -8.6 3.9 -1.5 17.8 ---- ---- ----
• This uncertainty may be hy
iy
-2.9
-2.2
-19.9 -8.2 8.7
-0.7 0.4 -2.9
9.9
----
0.5
----
-7.2 -5.8
---- ----
because of structural jy
ky
2.3
-4.0
16.2 -6.7 5.8
-4.2 4.4 0.2
-4.3 ---- ----
11.4 -2.4 -7.8 ----
----
-
damage, as it is ‘big’ enough ly
my
8.0 -10.7
-11.2 8.1
11.6
-
-14.6 3.7
-11.9 6.1
-7.7 -2.7 ----
conditions py
qy
18.5
9.2
-17.5 0.6
-4.6
5.6
-3.7 ----
8.5
----
----
----
----
----
----
----
ry -7.5 3.5 0.4 1.3 -7.3 3.7 6.2 -4.2
r9,10 7.8 -3.8 ---- ---- ---- ---- ---- ----
sy -4.9 -1.1 9.4 0.4 -6.7 0.1 ---- ----
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 10
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 11
Equivalent Control u eq λ , %
y1 = - hgˆ
-1
h fˆ - y&1,d +λ%
y 1
a,eq
QSb 2 r(ˆj4 ˆj3 ˆj2 ˆj1 ˆj0 )
4 3 2
a %p I xz pq / I x
2
2VI x p(iˆ3 ˆi2 ˆi1 ˆi0 )
3 2
I xz pq / I x Iz qr (I y Iz )(pq I xz qr / I x )
2
2VI xz I y Iz
QSb r (qˆ 2 qˆ 1 qˆ 0 ) qr
2 2
(I z I xz / I x )
2
Ix
QSb p(pˆ 4 pˆ 3 pˆ 2 pˆ 1 pˆ 0 )
2 4 3 2
I x (rˆ7 3 rˆ6 2 rˆ1 rˆ0 ) I xz (kˆ 6 3 kˆ 3 2 kˆ 1 kˆ 0 )
QSbI xz
(Iz I xz / I x ) ˆ 3 ˆ 2 ˆ
2
I x 2 (Iz I 2xz / I x ) (k 6 k 3 k1 kˆ 0 )
I xz
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 12
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 14
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 15
Simulation Results
• Several simulations were performed to show robustness
and fault tolerance in the event of
▫ parametric uncertainty
▫ measurement noise
▫ severe wind turbulence
▫ strong gusts
▫ actuator/sensor faults
• Very aggressive combat-like maneuvers were
considered.
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 16
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 17
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 18
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 20
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control
Introduction Literature Review Problem Statement SMC-MPC Algorithm System Modeling Simulations Conclusion 21
Thankyou
• Thankyou.
• You are welcome to question.
• airbilal@dsu.edu.pk
Fault Tolerant Flight Control Using Sliding Modes and Subspace SSSC’16
Identification-based Predictive Control