Prof. Dr. Marcelo Santiago de Sousa Prof. Dr. Pedro Paglione Prof.Dr. Roberto Gil Annes da Silva

Transcription

1 Prof. Dr. Marcelo Santiago de Sousa Prof. Dr. Pedro Paglione Prof.Dr. Roberto Gil Annes da Silva

2 Motivation Objectives Methodology NFNS Non linear control Results Conclusions

3 Design of new aircraft Requirements Mission New technologies: Composite materials, UAV s, new embedded sensors very flexible aircrafts. Example: aircraft Helios.

4 Unmmaned aircraft: HELIOS Unmmaned aircraft: HELIOS High structural deformation (wing bending ky)

5 Couplings between rigid body flight dynamics and aeroelastic response is not very well understood; Mathematical models of very flexible airplanes help to analyse these couplings; Methodology NFNS (Nonlinear flight dynamics Nonlinear structural dynamics); Very flexible aircraft seems to need non linear Very flexible aircraft seems to need non linear flight control laws.

6 To present the utility of mathematical models in the analysis of couplings between ( rigid id body ) flight dynamics and structural t dynamics. To propose the universal integral regulator as one feasible technique to control the flight dynamics of very flexible aircrafts. This technique is able to compensate the perturbations due to structural dynamics.

7 (DA SILVA, 2010)

8 NFNS: : Non-Linear Flight Dynamics Non- Linear Structural Dynamics; Equations of motion obtained with hamiltonian mechanics (total virtual work equal zero and arbitrary virtual displacements). Virtual work of all internal and external Virtual work of all internal and external forces are considered.

9 Structural dynamics modeled with the strain based formulation; Inertial couplings, non linear structural dynamics and high structural deformations are considered. Can be used to model different aircrafts configurations.

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11 Inertial coupling High structural deformations Non linear structural dynamics Rigid body degrees of freedom Elastic degrees of freedom Components of generalyzed mass matrix Components of generalyzed damping matrix Components of vector with generalyzed forces

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20 Local flow due to wing bending Lift due to aileron deflection Local flow Lift due to wing bending

21 VARIABLE STRUCTURE CONTROL or SLIDING MODE CONTROL Universal integral regulator: 1) Sliding mode control; 2) SISO systems; 3) Aproximation of descontinuum term; 3) Zero equivalent control; 4) Conditional integration.

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24 Block diagram

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26 a e e sat( ) 57,3 0.8

27 Airplane response, no control action, 125 m/s, 500 m

28 Airplane response, no control action, 125 m/s, 500 m

29 Airplane response with feedback control law, 125 m/s, 500 m

30 Airplane response with feedback control law, 125 m/s, 500 m

31 Airplane response with feedback control law, 125 m/s, 500 m

32 Airplane response with feedback control law, 125 m/s, 500 m

33 Resposta da aeronave com controlador, 125 m/s, 500 m

34 Resposta da aeronave com controlador, 125 m/s, 500 m

35 Flight control laws projected are efficient and robust enough to compensate effects of structural t deformations; Easy to implement; Detailed knowledge of mathematical model is not necessary.

36 Mathematical models help to analyze the couplings between flight dynamics and structural t dynamics. Universal integral regulator technique is capable to control the flight dynamics of very flexible aircraft.

37 Seshagiri, S., Khalil, H. K., (2005), Robust output feedback regulation of minimum-phase nonlinear systems using conditional integrators, Automatica, 41 (1), pp: Sousa, M.S. (2013), Modelagem, simulação e controle não linear de aviões muito flexíveis Tese de doutorado Instituto Tecnológico de Aeronáutica (ITA), São José dos Campos SP DA SILVA, A.; PAGLIONE P. Conceptual flexible aircraft model for modeling, analysis and control studies. In: AIAA ATMOSPHERIC FLIGHT MECHANICS CONFERENCE AND EXHIBIT, 2010, Toronto. Proceedings Washington: DC, 2010, p

38 Thank you.