tae-young kim richard p. metzger,jr. chen-l lim armando a. rodriguez asee pacific southwest meeting...
TRANSCRIPT
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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
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• Motivation
• Mathematical Models
• Control Laws
• Environment
• Utility
• Summary & Future Directions
Outline
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• MIMO Aircraft Control Design - High Performance Extensive Coupling
• Need Advanced Analysis, Design, and Visualization Tools
Motivation
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Aircraft Mathematical Models
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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
.
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P h u g o i d Mode
Short PeriodMode
Transmission Zero= - 0.5823
Longitudinal Pitch Dynamics Open Loop Poles and Transmission zero
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Nearly Constant Velocity Long-Period Mode
Nearly Constant Angle of Attack
Longitudinal Pitch Dynamics Modal Analysis
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Longitudinal Pitch Dynamics Open Loop Singular Values
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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
.
.
.
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Roll Subsidence
Spiral Divergence
Dutch Roll
Transmission Zero
= - 0.0841
Lateral (Roll-Yaw rate) Dynamics Open Loop Poles and Transmission zero
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Light Damping
RollingResponses
Usually notObjectionalble
Lateral (Roll-Yaw Rate) Dynamics Modal Analysis
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Lateral (Roll-Yaw Rate) Dynamics Open Loop Singular Values
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Control Laws
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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
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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
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H Norm
W1 S(s)W2 R(s)W3 T(s)
= max
H
W1 S(j)W2 R(j)W3 T(j)
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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
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Longitudinal (Pitch) Dynamics : Complementary Sensitivity : T = [I + PK]-1 PK
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Longitudinal (Pitch) Dynamics : Sensitivity : S = I - T
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[ v] = [ 1 0 ] [ v] = [ 0 1 ]
Longitudinal (Pitch) Dynamics : Reference command Following
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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
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Lateral (Roll - Yaw Rate) Dynamics : Complementary Sensitivity : T = [I + PK]-1 PK
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Lateral (Roll - Yaw Rate) Dynamics : Sensitivity : S = I -T
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[ ] = [ 1 0 ].
[ ] = [ 0 1 ].
Lateral (Roll - Yaw Rate) Dynamics : Reference command Following
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Environment Structure
(PUI)
(SIM)
(GAM)
(HIM)
(COM)
•Program User Interface
•Simulation Module
•Graphical Animation Module
•Communications Module
•Help-Instruct Module
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SIMULINK Driven 3D Animation Environment : Evaluation of H Design
Utility of Environment
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Interactive with MATLAB
Aircraft 3D Animation
SIMULINK Engine Driven 3D Animation Aircraft Environment
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ReferenceCommands
Interactive with SIMULINKEngine and 3D Animation
SIMULINK Engine Driven 3D Animation Aircraft Environment
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• 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
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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