Tae-Young Kim Richard P. Metzger,Jr. Chen-l Lim Armando A. Rodriguez

ASEE Pacific Southwest Meeting `99

Saturday, March 20th 1999

Harrah’s Hotel

Las Vegas, Nevada

http://www.eas.asu.edu/~aar/research/mosart

Ack : White House , NSF, WAESO/CIMD, Boeing, Intel, Microsoft, CADSI, Knowledge Revolution, MathWorks, Lego, Xilinx, Honeywell, National Instruments, Integrated Systems, ASU CIEE.

Description of Interactive Modeling, Simulation, Animation, and Real-Time

Control (MoSART) Aircraft Environment

• Motivation

• Mathematical Models

• Control Laws

• Environment

• Utility

• Summary & Future Directions

Outline

• MIMO Aircraft Control Design - High Performance Extensive Coupling

• Need Advanced Analysis, Design, and Visualization Tools

Motivation

Aircraft Mathematical Models

Longitudinal Pitch Dynamics

u (Inputs) ele (Elevator) rpm (Engine rpm)

y (Outputs) (Pitch) v (Speed)

v (Speed)

x (States) (Alpha)

(Pitch)

(Pitch rate).

x= Ax + Buy= Cx

.

P h u g o i d Mode

Short PeriodMode

Transmission Zero= - 0.5823

Longitudinal Pitch Dynamics Open Loop Poles and Transmission zero

Nearly Constant Velocity Long-Period Mode

Nearly Constant Angle of Attack

Longitudinal Pitch Dynamics Modal Analysis

Longitudinal Pitch Dynamics Open Loop Singular Values

Lateral (Roll - Yaw Rate) Dynamics

u (Inputs) ail (Aileron) rud (Rudder)

y (Outputs) (Roll angle) (Yaw Rate)

(Roll rate)

x (States) (Roll)

(Yaw rate)

(Side Slip Angle)

.

x= Ax + Buy= Cx

.

.

.

Roll Subsidence

Spiral Divergence

Dutch Roll

Transmission Zero

= - 0.0841

Lateral (Roll-Yaw rate) Dynamics Open Loop Poles and Transmission zero

Light Damping

RollingResponses

Usually notObjectionalble

Lateral (Roll-Yaw Rate) Dynamics Modal Analysis

Lateral (Roll-Yaw Rate) Dynamics Open Loop Singular Values

Control Laws

Control System Design

r e udi do

K P

n

y

Controller Plant

• Design K based on model Po s.t. nominal CLS exhibits:

– Stability and Stability Robustness

– Good Command Following

– Good Disturbance Rejection

– Good Noise Attenuation

– Robust Performance

H Controller

K(s)

W1(s)

W3 (s)

W2(s)

P(s)yr

e

eu

u

e u

W1 S(s)W2 R(s)W3 T(s)

<

H

H Norm

W1 S(s)W2 R(s)W3 T(s)

= max

H

W1 S(j)W2 R(j)W3 T(j)

W1 (s) = d i a g (s + 1.3s + 0.22)(s + 0.0001) (s + 1.3s + 0.22)(s + 0.0001)

1.3 , 1.3

W2 (s) = d i a g 0.6337 0.6337

0.01 , 0.01

W3 (s) = d i a g 0.6337(s + 0.0001) 0.6337(s + 0.0001)

2 , 2

= 0.6337 = 1/1.5781

Longitudinal (Pitch) Dynamics : W1, W2,

and W3

Longitudinal (Pitch) Dynamics : Complementary Sensitivity : T = [I + PK]-1 PK

Longitudinal (Pitch) Dynamics : Sensitivity : S = I - T

[ v] = [ 1 0 ] [ v] = [ 0 1 ]

Longitudinal (Pitch) Dynamics : Reference command Following

W1 (s) = d i a g (s + 1)(s + 0.0001) (s + 1)(s + 0.0001)

1 , 1

W2 (s) = d i a g 0.7574 0.7574

0.01 , 0.01

W3 (s) = d i a g 0.7574(s + 04) 0.7574(s + 0.4)

(s + 0.0001) , (s + 0.0001)

= 0.7574 = 1/1.3203

Lateral (Roll- Yaw rate) Dynamics : W1, W2, and W3

Lateral (Roll - Yaw Rate) Dynamics : Complementary Sensitivity : T = [I + PK]-1 PK

Lateral (Roll - Yaw Rate) Dynamics : Sensitivity : S = I -T

[ ] = [ 1 0 ].

[ ] = [ 0 1 ].

Lateral (Roll - Yaw Rate) Dynamics : Reference command Following

Environment Structure

(PUI)

(SIM)

(GAM)

(HIM)

(COM)

•Program User Interface

•Simulation Module

•Graphical Animation Module

•Communications Module

•Help-Instruct Module

SIMULINK Driven 3D Animation Environment : Evaluation of H Design

Utility of Environment

Interactive with MATLAB

Aircraft 3D Animation

SIMULINK Engine Driven 3D Animation Aircraft Environment

ReferenceCommands

Interactive with SIMULINKEngine and 3D Animation

SIMULINK Engine Driven 3D Animation Aircraft Environment

• Versatile system-specific interactive MoSART environments

• Windows / C++ / Direct-X / MATLAB

• User friendly: accessible & intuitive

• User can alter model structures & parameters

• Highly extensible: ability to incorporate new simulation/animation models

Summary

More visual indicators

Advanced SIM and GAM

Expanded HIM: web support, multimedia

Enhanced integration with MATLAB

Integrated design & analysis environment

http://www.eas.asu.edu/~aar/research/mosart/Presentations

Online presentation available at:

… development of MoSART Facility at ASU

Visit MoSART facility web site:

Future Directions