aem668 lecture 21...
TRANSCRIPT
![Page 1: AEM668 Lecture 21 ControlAugmentationSystems(CAS)rac.eng.ua.edu/cs/668/lec21a.pdf0“Performance,Stability,Dynamics,and Control of Airplanes, 2ed” by B. Pamadi,AIAA, 2004 0“Introduction](https://reader036.vdocuments.us/reader036/viewer/2022071607/6144726db5d1170afb43e12f/html5/thumbnails/1.jpg)
AEM 668 Lecture 21ControlAugmentationSystems(CAS)
Dr. Jinwei Shen
University of Alabama
April 9, 2015
![Page 2: AEM668 Lecture 21 ControlAugmentationSystems(CAS)rac.eng.ua.edu/cs/668/lec21a.pdf0“Performance,Stability,Dynamics,and Control of Airplanes, 2ed” by B. Pamadi,AIAA, 2004 0“Introduction](https://reader036.vdocuments.us/reader036/viewer/2022071607/6144726db5d1170afb43e12f/html5/thumbnails/2.jpg)
Roadmap
▶ Chap. 1: Kinematics, Dynamics, EOM▶ Chap. 2: Modeling the Aircraft▶ Chap. 3: Modeling, Design, and Simulation Tools▶ Chap. 4: Aircraft Dynamics/Classical Control
▶ Introduction and Handling-Qualities▶ Stability Augmentation System▶ Control Augmentation System▶ Autopilots▶ Simulating the System
▶ Chap. 5: Modern Control Theory
AEM 668 Lecture 21 J.Shen 2/11
![Page 3: AEM668 Lecture 21 ControlAugmentationSystems(CAS)rac.eng.ua.edu/cs/668/lec21a.pdf0“Performance,Stability,Dynamics,and Control of Airplanes, 2ed” by B. Pamadi,AIAA, 2004 0“Introduction](https://reader036.vdocuments.us/reader036/viewer/2022071607/6144726db5d1170afb43e12f/html5/thumbnails/3.jpg)
Control Augmentation Systems (CAS)
▶ CAS add pilot command input into flight control▶ CAS eliminate SAS problem of pilot inputs being
opposed by feedback loop▶ CAS provide dramatic improvement in handling
qualities: both stability and control response couldbe optimized
AEM 668 Lecture 21 J.Shen 3/11
![Page 4: AEM668 Lecture 21 ControlAugmentationSystems(CAS)rac.eng.ua.edu/cs/668/lec21a.pdf0“Performance,Stability,Dynamics,and Control of Airplanes, 2ed” by B. Pamadi,AIAA, 2004 0“Introduction](https://reader036.vdocuments.us/reader036/viewer/2022071607/6144726db5d1170afb43e12f/html5/thumbnails/4.jpg)
Pitch-Rate Control Augmentation
▶ Short-Period Mode Approximation⎡⎢⎣Δ�̇�Δ ̇𝑞
⎤⎥⎦
= ⎡⎢⎣
𝑍𝑤 𝑢0𝑀𝑤 + 𝑀�̇�𝑍𝑤 𝑀𝑞 + 𝑀�̇�𝑢0
⎤⎥⎦
⎡⎢⎣Δ𝑤Δ𝑞
⎤⎥⎦
▶ Natural Frequency: 𝜔𝑛 = √𝑍𝛼𝑀𝑞𝑢0 − 𝑀𝛼
▶ Damping Ratio: 𝜁 = 𝑀𝑞+𝑀�̇�+ 𝑍𝛼𝑢02𝜔𝑛
AEM 668 Lecture 21 J.Shen 4/11
![Page 5: AEM668 Lecture 21 ControlAugmentationSystems(CAS)rac.eng.ua.edu/cs/668/lec21a.pdf0“Performance,Stability,Dynamics,and Control of Airplanes, 2ed” by B. Pamadi,AIAA, 2004 0“Introduction](https://reader036.vdocuments.us/reader036/viewer/2022071607/6144726db5d1170afb43e12f/html5/thumbnails/5.jpg)
Pitch-Rate Control Augmentation203.18 (s+10) (s+1.029)
------------------------------------------(s+20.17) (s+10.16) (s^2 + 1.969s + 1.077)
−15 −10 −5 0−8
−6
−4
−2
0
2
4
6
8
Pitch−Axis CAS
Real (seconds−1
)
Ima
g (
se
co
nd
s−
1)
−15 −10 −5 0−8
−6
−4
−2
0
2
4
6
8
Pitch−Axis CAS
Real (seconds−1
)
Ima
g (
se
co
nd
s−
1)
AEM 668 Lecture 21 J.Shen 5/11
![Page 6: AEM668 Lecture 21 ControlAugmentationSystems(CAS)rac.eng.ua.edu/cs/668/lec21a.pdf0“Performance,Stability,Dynamics,and Control of Airplanes, 2ed” by B. Pamadi,AIAA, 2004 0“Introduction](https://reader036.vdocuments.us/reader036/viewer/2022071607/6144726db5d1170afb43e12f/html5/thumbnails/6.jpg)
Pitch-Rate Control Augmentation
101.59 (s+10) (s+3) (s+1.029)---------------------------------------------------(s+13.67) (s+10.75) (s+1.018) (s^2 + 6.86s + 20.96)
0 0.5 1 1.5 2 2.5 30
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (seconds)
Am
plit
ud
e
AEM 668 Lecture 21 J.Shen 6/11
![Page 7: AEM668 Lecture 21 ControlAugmentationSystems(CAS)rac.eng.ua.edu/cs/668/lec21a.pdf0“Performance,Stability,Dynamics,and Control of Airplanes, 2ed” by B. Pamadi,AIAA, 2004 0“Introduction](https://reader036.vdocuments.us/reader036/viewer/2022071607/6144726db5d1170afb43e12f/html5/thumbnails/7.jpg)
Lateral-Directional CAS
AEM 668 Lecture 21 J.Shen 7/11
![Page 8: AEM668 Lecture 21 ControlAugmentationSystems(CAS)rac.eng.ua.edu/cs/668/lec21a.pdf0“Performance,Stability,Dynamics,and Control of Airplanes, 2ed” by B. Pamadi,AIAA, 2004 0“Introduction](https://reader036.vdocuments.us/reader036/viewer/2022071607/6144726db5d1170afb43e12f/html5/thumbnails/8.jpg)
Roll-rate Loop
−30 −20 −10 0 10−30
−20
−10
0
10
20
30
Root Locus
Real (seconds−1
)
Imag (
seconds
−1)
AEM 668 Lecture 21 J.Shen 8/11
![Page 9: AEM668 Lecture 21 ControlAugmentationSystems(CAS)rac.eng.ua.edu/cs/668/lec21a.pdf0“Performance,Stability,Dynamics,and Control of Airplanes, 2ed” by B. Pamadi,AIAA, 2004 0“Introduction](https://reader036.vdocuments.us/reader036/viewer/2022071607/6144726db5d1170afb43e12f/html5/thumbnails/9.jpg)
Yaw-rate Loop
−30 −20 −10 0 10−15
−10
−5
0
5
10
15
Root Locus
Real (seconds−1
)
Imag (
seconds
−1)
AEM 668 Lecture 21 J.Shen 9/11
![Page 10: AEM668 Lecture 21 ControlAugmentationSystems(CAS)rac.eng.ua.edu/cs/668/lec21a.pdf0“Performance,Stability,Dynamics,and Control of Airplanes, 2ed” by B. Pamadi,AIAA, 2004 0“Introduction](https://reader036.vdocuments.us/reader036/viewer/2022071607/6144726db5d1170afb43e12f/html5/thumbnails/10.jpg)
Lateral Acceleration Loop
−20 −15 −10 −5 0
−10
−5
0
5
10
Root Locus
Real (seconds−1
)
Ima
g (
se
co
nd
s−
1)
AEM 668 Lecture 21 J.Shen 10/11
![Page 11: AEM668 Lecture 21 ControlAugmentationSystems(CAS)rac.eng.ua.edu/cs/668/lec21a.pdf0“Performance,Stability,Dynamics,and Control of Airplanes, 2ed” by B. Pamadi,AIAA, 2004 0“Introduction](https://reader036.vdocuments.us/reader036/viewer/2022071607/6144726db5d1170afb43e12f/html5/thumbnails/11.jpg)
Next lecture (SL 4.6)
▶ Autopilots
0“Aircraft Control and Simulation, 2ed” by B.L. Stevens and F.L.Lewis, Wiley, 2003
0“Performance, Stability, Dynamics, and Control of Airplanes,2ed” by B. Pamadi, AIAA, 2004
0“Introduction to Aircraft Flight Mechanics: Performance, StaticStability, Dynamic Stability, Classical Feedback Control, andState-space Foundations” by T.R Yechout et al, AIAA , 2014
AEM 668 Lecture 21 J.Shen 11/11