feed-back flight control law design · folie 18 > vortrag > autor dokumentname > datum ....

1 Vortrag > Autor > Dokumentname > Datum

Feed-back flight control law design Handling (severe) atmospheric disturbances Gertjan Looye, Thomas Lombaerts, Nir Kastner, Thiemo Kier, Jan Kladetzke System Dynamics and Control Robotics and Mechatronics Center (RMC) [email protected]

mailto:[email protected]

2

Overview

Motivation Control law architecture Atmospheric disturbances Flight tests Conclusions

Vortrag > Autor > Dokumentname > Datum

3

Overview



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Motivation Scope: address turbulence, wind shear, wake vortices … … in and by design of feedback control laws

NO disturbance prediction Design aspects …


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Design aspects: example 1


Flight Control Laws

Short-scale turbulence

• Sensor signal “quality” • Control activity

• Airframe structure • Passenger comfort

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Flight Control Laws

Moderate turbulence

• Tracking performance • Control activity • System performance limits • Airframe loads • Passenger comfort …

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Flight Control Laws

Wind shear Wake vortices

• Tracking performance • Aircraft performance limits → Priorities and Protections!!

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Motivation Scope: address turbulence, wind shear, wake vortices … … in and by design of feedback control laws Design aspects … State of the art:

Addressing these issues is current practice to a certain extent Mostly neglected in modern design methods These introduce new challenges … … as well as many new possibilities


9

Overview




Control law architecture

Common platform for various projects: • Basic manual and auto flight: Weather & Flying • Handling of atmospheric disturbances Weather & Flying • GPS/GBAS-based automatic landing: TOPGAL • Control saturation handling: WTF • Control law rapid prototyping: VAMP / FaUSST

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Overview




W&F focus: control law design

Sensor data fusion, estimation

Control law tuning (multi-objective optimisation)

Command variable selection

Handling control saturation

Use of additional control surfaces

13

Overview




Flight tests

Flight 1: helix manoeuvres

Flight 2: manual control laws Flight 3: all up, protections Flight 4,5: limit handling Flight 6: all up, DLC Flight 7: wake vortex emulation

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Flight 1: spiral approaches to EDVE RWY26


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Dokumentname > Datum

Turning flight in constant wind

µtan2

mgrmV

helix

= µtan2

=helixgr

V

0 100 200 30010

15

20

25

30

Track angle χ [deg]

Ban

k an

gle µ

[deg

]

No WindWind 20 kts, χW=0

1

2 3

1

4

0 2000 4000 6000

-5000

-4000

-3000

-2000

-1000

0

1000

X [m]

Y [m

]

Constant bank angle

Adapting bank angle

rhelix

mg

mg/cos(µ)

mV2

rhelix

µSimplification: Level flight

V not constant!



Flight 1: velocities

0 100 200 300 400 500 60060

65

70

75

80

85

90

95

100

105

time [s]

VC

AS, V

, Vco

mpl [m

/s]

VCAS

VVcompl

Go-around



Flight 1: Roll / side slip angles

0 100 200 300 400 500 600-5

0

5

10

15

20

25

30

35

time [s]

φ , β

[deg

]

Roll angleSide slip angle (sensor)Side slip angle (synth.)



Flight 1: lateral tracking error

0 100 200 300 400 500 600-100

-50

0

50

100

150

time [s]

Late

ral e

rror [

m]

capture

Capture ILS

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Flight 6: Use of DLC controls for flight path control


Lift via angle of attack (elevator)

Direct Lift via ATTAS DLCs



Flight 6: DLC controls

Undesired effect of ATTAS auto trim

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Turbulence: simulation (none encountered in flight)


0 10 20 30 40 50 60 70 80-0.5

0

0.5

γ [°

]

0 10 20 30 40 50 60 70 801.6

1.8

2

2.2

2.4

2.6

2.8

3

θ [°

]

time [s]

noDLCDLC


Flight 7: emulated wake vortices

+

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Flight 7: emulated wake vortices


Attitude hold off

Attitude hold on

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Overview



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Conclusions

Integrated manual / automatic flight control system → Flight test validated: wind shears, emulated wake vortices, turbulence → Easy adaptation to different aircraft types → Basis for future work and parallel projects

What‘s next? Integration in IRLIS feedback / feedforward system (next presentation) Wake vortex encounters: → Flight loads effects with feedback control laws → Sensor location effects


feed-back flight control law design · folie 18 > vortrag > autor dokumentname > datum ....

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