Integration of Predictive Display and Aircraft Flight Control System

Transcription

1 ATE Wb of onfrnc 99, (07 DOI: 005/ matcconf/ TAI06 Intgraton of Prdctv Dplay and Arcraft Flght ontrol Sytm AV Efrmov, *, S Tjaglk, IH Irgalv and VG Tpnko ocow Avaton Inttut, Aronautcal chool, ocow, Rua ocow Stat Tchncal Unvrty of vl Avaton, ocow, Rua Abtract Th ynth of dctv dplay nformaton and drct lft control ytm ar condrd for th path control trackng tak (n partcular landng tak Th both oluton ar bad on plot-vhcl ytm analy and rqurmnt to ovd th hght accuracy and lowt plot workload Th nvtgaton wa carrd out for ca wth and wthout tm dlay n arcraft dynamc Th ffcncy of th both way for th flyng qualt movmnt and thr ntgraton ttd by ground bad mulaton Introducton Th movmnt of flyng qualt mght b ralzd by th dffrnt way On of thm th uag of drct lft control (DL ytm ovdng th dcouplng of path and angular moton It allow to dcra th pol ordr n th orgn n arcraft path moton dynamc [, ] and to gt th lop of t ampltud frquncy rpon charactrtc clo to 0 db/dc n croovr frquncy rang Th othr way th uag of dctv dplay [3] It nflunc on zro of controlld lmnt dynamc tranfr functon and allow to gt th am lop of t ampltud frquncy charactrtc (-0 db/dc n th am frquncy rang Th hgh potntalty of dctv dplay wa nvtgatd n flght tt [4] and n ground-bad mulaton [5] In currnt pa t condrd two apoach to th dgn of dctv dplay dffrd by th way of dtrmnng th path angl Th ffctvn of th dctv dplay compar wth ffctvn of DL ytm Th lat on wa ralzd by two way: by u command fltr and by u th fdback and fd forward controllr Th addtonal rqurmnt to th dynamc of DL arcraft bad on rqurmnt of clon of t frquncy rpon charactrtc to th mal control dynamc [6] condrd Th ffcncy of uch addtonal rqurmnt wa chckd n ground-bad mulaton Th potntalt of ntgraton of DL ytm and dctv dplay wa nvtgatd n ground bad mulaton Th uag of drct lft control (DL ytm A numbr of tud wr ddcatd to th uag of DL ytm for flyng qualt movmnt [,, 7, 8] whr th rqurmnt to xcuton of a pcfc mod of moton wa formulatd In th currnt nvtgaton two vron of DL ytm ovdng th varabl angl of attack and contant ptch angl ar condrd Th vron ar hown on fg - Th vron gvn on fg ovd th rqurd mod of moton wth hlp of command fltr W and W Th cond vron bad on th uag of th command fltr n th angl of attack loop and fd forward controllr n th othr loop fltr fg Two actuator dynamc wth and wthout rat lmt wr nvtgatd Fg DL ytm wth command fltr Fg DL ytm wth command fltr and fdback and fd forward controllr Th quaton for th fltr and controllr wr dfnd by ung th quaton of hort od moton For any vron of th condrd DL ytm th u of DL lad to th dcra of pol ordr n th orgn of th controlld lmnt dynamc (tabl It ovd th mplfcaton of plot bhavor (th dcra of h * orrpondng author: pvl@maru Th Author, publhd by EDP Scnc Th an opn acc artcl dtrbutd undr th trm of th ratv ommon Attrbuton Lcn 40 (

2 ATE Wb of onfrnc 99, (07 DOI: 005/ matcconf/ TAI06 lad compnaton A a conqunc, th accuracy n trackng tak ha to b movd too Prlmnary xmnt wr xcutd on th AI worktaton whr th oator carrd out th ngl loop trackng tak wth th nput gnal t ( charactrzd by th low bandwdth pctrum S K (, whr 0 rad/c Tabl W for dffrnt vron of DL ytm W W vron vron K W ( Z ( pz W3 ( Z ( pz K W3 --- K Wс= H X V ( Z p( pz V ( Z p( pz Th maurmnt of th accuracy dmontratd that th clo rult wr achvd for two vron of DL ytm (fg3 In ca of «dal» actuator (whn th rat lmt wa not tackn nto account th varanc of rror wa thr tm hghr n comparon wth xmnt carrd out for arcraft wthout DL ytm Fg 3 Influnc of DL on accuracy Excpt t th maurmnt of plot dcrbng functon dmontratd that plot lad compnaton wa condrably lowr (fg 4 Fg 4 Plot frquncy rpon charactrtc for arcraft wth and wthout DL In ca whn th rat lmt wa takn nto account n th modl of actuator dynamc, th varanc of rror wa hghr although th ffct of DL ncrad up to 4-45 tm Bcau th paramtr of fltr ar dfnd by th arodynamc coffcnt ( tabl, thr naccurat knowldg do not allow to kp th rqurd mod of moton Th valuaton of nflunc of uch naccurcy on th rqurd mod of moton wa xamnd on mulator Th xmnt dmontratd that naccuracy of th knowldg of coffcnt (, Z, Z up to 30% ddn t hav any actcal nflunc on varanc of rror Excpt th rqurmnt to th mod of moton, an addtonal on th clon of DL arcraft dynamc to th mal controlld lmnt dynamc ( W, wa addd Th mal control dynamc wa dfnd n [6,9] a th tranfr functon ovdd th hght accuracy mn wth th mplt typ of plot bhavor whn h dcrbng functon corrpond to jw WP( jw KP, and pctral dnty of plot no ( n t ( rmnant Snn K n mn, K n =0,0 Th Wnr apoach wa ud for th valuaton wth takng nto account th fxd part - non mnmum pha lmnt Accordng to [6,9], th gnral quaton for th W obtand by u of Wnr apoach th followng: ˆ 0( P ( W (, A ( Pˆ ( 0( P ( whr P ( and P ˆ ( ar th nomnator and dnomnator of th tm dlay Pad apoxmaton P ( WO ( Pˆ ( Th polynomal A * ( and ( can b dfnd by factorzaton of quaton for th nput gnal pctral dnty: ( ( ( S( D ( D( D( and pctral dnty: A ( A( A( S ( S( Sn ( n B ( B( B( Th polynomal ( 0 dfnd by quaton ( ˆ P 0( A ( B ( L0( ( P ( ( Wth takng nto account th rmnant pctral dnty modl gvn abov t pobl to gt that B ( D ( and quaton for W ( : ˆ A ( 0( P ( W (, D ([ N D ( Pˆ ( L0 (] whr N S nn It hown n [8] that

3 ATE Wb of onfrnc 99, (07 DOI: 005/ matcconf/ TAI06 N Snn Kn K For th ca whn S : ( whr B ( ( mn WL 0 d A K b c ; ( n ( mn A K b c ; ( n ( mn 4 ( c c K ( Kn mn b,, p K, Th quaton allow tranformng ( to th followng: ( 0( Kn ( mn bc ( ( L0 ( K ( Th oluton of th quaton th followng: ( a b, L ( c d f Th coffcnt a 0, b 0, c 0, d 0, f 0 can b dfnd by oluton of th ytm of algbrac quaton of th 5 ordr whch can b obtand by th quat coffcnt of th quaton ( wth th am ordr of For th ca whr K 0,0; 0,5 c; 0, rad/c th frquncy rpon charactrtc of th arcraft mal dynamc hown on fg 5 W n whr W and W ampltud frquncy rpon charactrtc of controlld lmnt dynamc and arcraft mal dynamc, c and c pha frquncy rpon charactrtc of th am dynamc, wghtng coffcnt valu qual to 57,3 Th frqunc ar th frqunc of polyharmonc nput gnal t ( Aco k k ( kt wdly ud n AI rarch [5, 9] for plot-arcraft ytm analy Th valu of th fltr paramtr ar gvn n th tabl for th ca of actuator wth dal dynamc For th both vron of DL ytm th paramtr ar th am (K =46, T =034, T =0 and th actuator dynamc do not nflunc on th valu Exmnt xcutd on th worktaton dmontratd that ntallaton of addtonal fltr W f allowd to dcra th varanc of rror n,6-,7 tm (fg 6 For th ca whn th rat lmt wa takn nto account n th actuator dynamc th ffctvn of th addtonal fltr hghr n,5 tm Fg 6 Influnc of addtonal fltr 3 Th uag of dctv dplay and t ntgraton wth DL Fg 5 Frquncy rpon of mal control dynamc It wa offrd to nclud th fltr W f n flght control ytm for th movmnt of th accuracy Paramtr of th fltr ar lctd from th rqurmnt of clon of controlld lmnt dynamc to th mal on W Th controlld lmnt dynamc ar th dynamc of arcraft wth DL ytm ovdng th mod of moton var, 0, and addtonal fltr Th gnral quaton for th fltr th followng T Wf K Th lcton of th fltr T paramtr wa carrd out by mnmzaton of crtra: mn ( T, T W W c c w (3 Two vron of dctv nformaton wr condrd Th frt on (fg 7 uppo that th on-board computr gnrat th dctv vctor of th path angl T Fg 7 Plot-vhcl ytm wth dctv dplay Hr th path angl tmatd by th nrtal ytm and th calculatd drvatv of th path angl Through th dplay plot cv th dctv amng angl H L, whr L VT ( T dctv tm, V arcraft vlocty th dtanc btwn th plot y and th urfac pndcular to th 3D corrdor gnratng on th dplay and lmtng th pac whr th arcraft, ha to mov 3

4 ATE Wb of onfrnc 99, (07 DOI: 005/ matcconf/ TAI06 Th othr vron of dctv nformaton (fg 7 uppo that th on-board computr calculat th path angl m accordng to th mathmatcal modl ( W, fg 7, of th arcraft moton W In that ca th plot cv th angl H L on th crn of dplay Hr m XW In ca whn th tm dlay accompand th control oc th tranfr functon of th controlld lmnt dynamc qual to Kc Tпр T пр X ( For th cond vron of dctv dplay W do not nclud tm dlay Th frquncy rpon charactrtc for th two vron ar hown on fg 8 for 08 It n that n ca whn tm dlay xt n dynamc th cond vron allow to up t ffct agntud (db For that purpo t wa ud th plot tructural modl [5] Th rult of uch mathmatcal modlng ar th plot modl paramtr ( Kp, T L, ud thn for calculaton of varanc of H and for dfnton of t mnmum (fg 0 Fg 0 Varanc of f( T H Th ffcncy of two dctv dplay vron wr tudd on th pcalzd mulator (fg Th plotng tak wa th landng tak whr th plot had to track th gld lop and to compnat th rror gnal Pha (dg Frquncy (rad/ W c wth vron of dplay W c wth vron of dplay Fg 8 Influnc of dctv dplay on W ( jw Th dtrmnaton of dctv dplay ffcncy rqur th lmnary dfnton of dctv tm T (or L TV For that purpo t wa dvlopd th ocdur bad on th modlng of th plot-vhcl ytm hown on fg 9 Hr t ( th ogram trajctory and t ( th dctv trajctory ojctd on dplay Th mal T ( L wa dfnd a th valu corrpondng to th mnmum varanc H, whr H H ( t For th dtrmnaton of T t wa carrd out th mathmatcal modlng of th ngl loop plot-vhcl ytm for ach valu T Fg 9 Plot arcraft ytm for calculaton H Fg Spcalzd mulator Th rult of xmnt xcutd wthout th dturbanc dmontratd that th both vron of dctv dplay ovd apoxmatly th am accuracy n gld lop trackng (fg, ca 0 In ca whn τ wa not zro ( 08 th uag of th cond vron of dplay allowd to up th ffct of controlld lmnt dynamc and to achv hghr accuracy n 7 tm Th multanou uag of DL ytm and dctv dplay mov th accuracy on about 0-5% In ca whn th dturbanc wr not zro th ffct of ntgraton DL ytm and dctv dplay ncra up to 40% In partcular all th rult can b xplan wth hlp of fg 3 Thr ar gvn th valu of crtra I (3 for th dffrnt ca tudd n th rarch Th crtra dfn th dffrnc btwn th ampltud and pha of th altrnatv dynamc and mal frquncy rpon charactrtc 4

5 ATE Wb of onfrnc 99, (07 DOI: 005/ matcconf/ TAI06 Rfrnc Fg Th varanc of rror for th dffrnt man of augmntaton (dp frt vron of dctv dplay, dp cond vron of dctv dplay I 0 3 w/o dp dp DL+dp Fg3 Varanc of crtra I ( quaton (3 It n that th ntgraton of th DL ytm and dctv dplay ovd th hght clon of th controlld lmnt dynamc to th mal on Th rult ncludd n th pa ar th rult of th nvtgaton ponord by th ntry of Educaton and Scnc (contract 90804/K JP Gukov, GI Zaganov, Arcraft Flght ontrol (ocow, achnotrony, 980 AV Efrmov, AV Oglobln, Th Way for Provon of Ncary Flyng Qualt In th book Th Problm of Flght Dynamc of Arcraft Provdd by DL (ocow, AI, 98 3 AV Efrmov t al, Journal Ruan Aronautc (06 4 G Sach, Journal of Gudanc, ontrol, and Dynamc, 3(3 (000 5 AV Efrmov, S Tjaglck, Th Dvlopmnt of Prpctv Dplay for Hghly Prc Trackng Tak In th book Advanc n Aropac Gudanc, Navgaton and ontrol (Sngr, 0 6 AV Efrmov t al, Plot a a Dynamc Sytm (ocow, achnotrony, JP Gukov, Analy of Rqurmnt to th Arcraft Handlng Qualt Provdd by DL n th Stablzaton Tak In th book Th Problm of Flght Dynamc of Arcraft Provdd by DL, (ocow, AI, 98 8 R Hoh, J Ahkna, t al Dvlopmnt of Handlng Qualt rtra for Arcraft wth Indpndnt ontrol of Sx Dgr of Frdom AFWAL-TR-80 (980 9 AV Efrmov t al Invtgaton of Plot Inducd Ocllaton Tndncy and Prdcton rtra Dvlopmnt WL-TR (Wrght Lab USA, 996 5