a computer aided development procedure to test multiple ... · a computer aided development...

May 24th 2011Corpino Viola Fioriti Medici – Neaples 20111

A Computer Aided Development Procedure to Test Multiple System

Integration

The work has been performed through a close cooperation with ALENIAAERONAUTICA staff with constant technical meetings and a continuousinformation exchange.In particular Authors wish tothank eng. Maria Airoldi, Mr. Marco Mantovani eng.Alessandro Pasquino and eng. Massimiliano Paternoster.

Sabrina CORPINO (Politecnico di Torino S.P.A.I.C. srl)Nicole VIOLA (Politecnico di Torino)

Marco FIORITI (Politecnico di Torino)Giovanni MEDICI (Politecnico di Torino)

SMATF1


SMAT-F1 Project

SMAT-F1 is a research project funded by the Regione Piemonte (Italy), managed by Finpiemonte and promoted through the Promoter Board of Piedmont's Aerospace District. It is also co-funded by European fund for regional development (F.E.S.R.).

REGIONE

PIEMONTESMATF1


SMAT-F1 Project

The system will be able to cover different potential needs, such as:–Surveillance of areas subject to natural disasters (landslides, floods, earthquakes, fires)–Border patrol–Surveillance of areas subject to human intervention.–Specific areas monitoring for prevention purposes–Territory surveillance for planning purposes

SMAT main objective is to define, design and develop an Advanced Environment Monitoring System, based on Unmanned Air Systems

SMATF1


SMAT-F1 Project

GCS

GCS GCS

SSC

Operative

Centers

MEDIUM ALTITUDE

MEDIUM ENDURANCE

Datalink

Ground

> 12000 m

5000 m

< 100 m

UA

VG

CS

/ S

SC

GR

OU

ND

AIR

LOW ALTITUDE

SMALL ENDURANCE

HIGH ALTITUDE

HIGH ENDURANCE


The author’s task

The author’s have been asked to develop the control laws of various systems:

1. LDG Landing gear system2. NWS Nose Wheel Steering system3. WBS Wheel Braking System (2 configurations Hydraulic Electrical)

4. FS Fuel System


Computer AidedDevelopment Procedure

During the systems controller logic definition, performed for the SMAT-F1 project, we used a three steps development method:

1.Algorithm development through visual flow charts technique.

2.According to the flow charts a code file (written in C programming language) has been developed.

3.With the aim to demonstrate and validate the code a “Status Model” was also built.


FlowchartsInitially the logics are developed thanks to the Flowcharts’ diagrammatic representation. In the next slides few flowchartsexamples will be shown.This diagrammatic representationimmediately gives visuallythe step-by-step solutionto a given problem.

1


1

INCREASE

TIMERDOWN

CNTRSTR=Centered ?

SPEED < TBD ?

WARN

Y

N

Y

Y

N

N

MALFUNCTION

ROUTINE

FLOWCHART EXAMPLE

STARTING EXTENSION

To NLDGACT: ACTTR-NLDG= DOWN (act. GO DOWN)

To LLDGACT ACTTR-LLDG= DOWN (act. GO DOWN)

To RLDGACT ACTTR-RLDG=DOWN (act. GO DOWN)

LDG MOUVEMENT=DOWN

TIMERUP Reset

STARTING EXTENSION

Checklocks WARN

WARN

R

R1


EXTENSION COMPLETED

EXTENSION IN PROGRESS

COUNTERCHECK

3

COUNTER > TBD ?

UPLOCK = NOT LOCKED UP AND DOWNLOCK = LOCKED DOWN

?

N

Y

Y

Y

N

STATLDG = DOWNLDGACT = 0LDGMOUVEMENT=0COUNTER =0

EXT FAILURE=1LDGACT = 0

FLOWCHART EXAMPLE

EXTENSION IN PROGRESS

MALFUNCTION

ROUTINE

LEGDOWNLOCKNLG = 1

LDG LIGHTS switch on

R2

R3


ANSI CThe next step has been the recode of the flowcharts into C language code:

2


“Status Model” development:

The third step has been the recode of the flowcharts intoMatlab® and Matlab Simulink ™ language code:

• The Status Model help to test the control laws dynamically.• The block approach keep FCC code isolated from other components.• Many different FAILURES can be simulated, among all:

o Flight Control Computer FAILURE.o UPLOCK and/or DOWNLOCK FAILURE.o SLOW ACTUATOR or TOTAL ACTUATOR’s FAILURE.o WOW FAILURE.

3


“Status Model” Layout


WOW

SteerAct

steer_IN

steer_OUT

Scope_IN

steer_Scope_OUT

Select Speed

48

STEERING

TOWING

STEER com

Matlab Fcn FCC

PPC

M STATI

LANDING GEAR

EMEX COM

OVER COM

GEAR COM

-K-

GROUND

Z

FUEL

PS1OutPS2Out

BPS1OutBPS2Out

SOV POS BSOV POS A

TSPROBE1PROBE2

FHSFLS

RotPos

FAILURES

FCC1 FAILFCC2 FAILFCC3 FAILUPLOCK FAILDOWNLOCK FAILACTTR SLOWACTTR FAILWOW FAILLBRK1 FAILLBRK3 FAILRBRK1 FAILRBRK3 FAILNWS FAILP1 FAILP2 FAILPS1 FAILPS2 FAILBPS1 FAILBPS2 FAIL

FAILURESPILOT COMMANDS

Clock

0

BRAKING

PARK COM

BRAKE DEML

BRAKE DEMR

BRAKE DIFF

Actuators

nldg_IN

lldg_IN

rldg_IN

nldg_OUT

lldg_OUT

rldg_OUT

Scope OUT

AIR

clock

LDGEMEX

LDGOVER

LDGGEAR

WOW

WOW

nldgO

lldgO

rldgO

EMEXSIG

OVERSIG

GEARSIG

ACTUATORS POSITION

WOWSIG

SPEED

STEER

STEERANGL

TOW

PARKBRK

DEMLBRK

DEMRBRK

DIFFBRK

“Status Model” layout:

The Simulink model high-lights the signals related toeach system:

•Each system is contained inside a mask block, for cluttering reasons.• Customized components (with dedicated icon) are easier to understand.•Through custom icons an easy to use graphical user interface can be developed.


“Status Model” splash screen:


“Status Model” display window overview:

LDG STATUS LIGHTS

NWS STATUS INDICATOR

WBS BRAKESPOWER

FS LIGHTS


FUEL

SOV CLOSE

FUEL

SOV OPEN

SPEED

48

R PEDALL PEDAL

FUEL

SOV CLOSE

FUEL

SOV OPEN

SPEED

48

R PEDALL PEDAL

Command Window.

The user candynamically changethe position of Eachswitch and verify thesoftware response.Each System: LDG,NWS, WBS, and FScan be adjusted byclicking on theproper mask.


RotPos

12

FLS

11

FHS

10

PROBE2

9

PROBE1

8

TS

7

SOV POS A

6

SOV POS B

5

BPS2Out

4

BPS1Out

3

PS2Out

2

PS1Out

1round

rotaryInput

1

Tank

Out1

Out2

Out3

Select Temperature °C

-24

SOVOPEN

> 0.95

SOVCOM

1SOVCLOSE

< 0.05SOV Valve

SOV

PS2

PS1

P2 Pos

2

P2 Com

P2

P1 Pos

1

P1 Com

P1

OPEN

OFF

0

Multiport

Switch

MinMax

max

MasterBMasterA

BPS2O

BPS1O

PS2O

P1C

PS1O

P2C

FuelQuantity

ceil

FUEL LOW

< 0.1

FUEL FULL

> 0.95

double

double

double

double

CLOSED BPS2

BPS1

“Fuel System” Simulink model.


“Status Model” Ouputs

The user can verify the simulation results throughvarious post-processing tools:

• Plots: reports the most important variablessignals vs. time.

• Logs: collects the messages that are produced bythe FCCs (Flight Control Computers).


05

1015

2025

3035

4045

0 0.5 1

EMEXSIG

05

1015

2025

3035

4045

0 0.5 1

OVERSIG

05

1015

2025

3035

4045

−1 0 1

GEARSIG

05

1015

2025

3035

4045

0 0.5 1

ACTUATORS POSITION

05

1015

2025

3035

4045

−1 0 1

WOWSIG

05

1015

2025

3035

4045

−1 0 1

STEER ANGLE

Time [s]

Normal Takeoff and Landing

“Status Model” plot example:

•Parking•Towing•Steer & Brakes•Taxing•Takeoff•Retraction•Extension•Dyn BIT•Steer BIT•Landing


“Status Model” log example:

•LDG Retraction•LDG Extension

-+ PILOT COMMAND TCS GEAR UP +-

FCC1 ACTTR-NLDG=GO-UP

FCC1 ACTTR-LLDG=GO-UP

FCC1 ACTTR-RLDG=GO-UP

0.05

FCC2 ARM-REL-STR=NOT-ARM

FCC2 Stering System Powered OFF

0.40

UPLCKNLDG=LOCKED-UP

INTUPLCKNLDG=LOCKED-UP

1.90

UPLCKLLDG=LOCKED-UP

INTUPLCKLLDG=LOCKED-UP

2.00

UPLCKRLDG=LOCKED-UP

INTUPLCKRLDG=LOCKED-UP

GEAR IS UP

FCC2 ARM-REL-LDG=NOT-ARM and Check it

-+ PILOT COMMAND TCS GEAR DOWN +-

FCC1 ACTTR-NLDG=GO-DOWN

FCC1 ACTTR-LLDG=GO-DOWN

FCC1 ACTTR-RLDG=GO-DOWN

0.00

DOLCKNLDG=LOCKED-DOWN

INTDOLCKNLDG=LOCKED-DOWN

1.80

DOLCKNLDG=LOCKED-DOWN

INTDOLCKNLDG=LOCKED-DOWN

1.85

DOLCKLLDG=LOCKED-DOWN

INTDOLCKLLDG=LOCKED-DOWN

1.90

DOLCKLLDG=LOCKED-DOWN

INTDOLCKLLDG=LOCKED-DOWN

1.95

DOLCKRLDG=LOCKED-DOWN

INTDOLCKRLDG=LOCKED-DOWN

GEAR IS DOWN

FCC2 ARM-REL-LDG=NOT-ARM and Check it

FCC2 ARM-REL-STR=ARM

FCC2 Stering System Powered ON

Dynamic Actuator Test

Dynamic Test Succeded

Center Steer Command Sent

Center Steer Command Received


STATUS MODEL MOVIE:

NORMAL TAKEOFF AND

LANDING


Conclusions

The authors developed a Computer Aided DevelopmentProcedure to Test Multiple System Integration.

1.The modular nature of the Status Model enables thecreation of a customized blocks library.

2.Various Failure scenarios can be simulated and tested.

3.The tool allows faster and more reliable controller logicsdevelopment.

4.It prooved to be effective helping the specialist to releaseadequate FRD thanks to the three step procedure.

SMATF1


THANK YOU, ANY QUESTION?

SMATF1

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