Mech 6091 Flight Control System Course Project. Team Member: Bai, Jing Cui, Yi Wang, Xiaoli

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1 Mech 6091 Flight Control System Course Project Team Member: Bai, Jing Cui, Yi Wang, Xiaoli

2 Outline 1. Linearization of Nonlinear F-16 Model 2. Longitudinal SAS and Autopilot Design 3. Lateral SAS and Autopilot Design 4. Nonlinear Simulation 5. Conclusion

3 Linearization of Nonlinear F-16 Model Selection of trim condition: Altitude = m Speed = 300 m/s By running runf16model.m, the inputs and states of trimmed condition can be calculated.

4 Linearization of Nonlinear F-16 Model m Table 2.1 Trim Conditions 300 m/s deg deg deg pow (power) %

5 Linearization of Nonlinear F-16 Model The system include: 1.Nonlinear aircraft model 2.Actuators Buy running linmod command for the simulink model the state-space matrices of A, B, C, D can be derived.

6 Linearization of Nonlinear F-16 Model

7 Longitudinal Controllers Design Control Diagram Speed Speed Command Speed Controller Altitude Command Altitude Controller Pitch-Attitude Controller Aircraft SAS System Pitch Angle Altitude

8 Longitudinal Controllers Design Kα Angle of Attack Actuator Aircraft Kq Pitch Rate

9 Longitudinal Controllers Design Flying Quality Requirements (MIL-8785C): 1. Category B is applicable for cruise 2. In general, Level 1 flying qualities should be compliant throughout the operational flight envelope

10 Longitudinal Controllers Design

11 Imaginary Axis Longitudinal Controllers Design Root Locus

12 Imaginary Axis Longitudinal Controllers Design Root Locus with the natural frequency of , and damping ratio of Real Axis

13 Longitudinal Controllers Design

14 Pitch Angle (deg) Longitudinal Controllers Design Pitch-Attitude Hold Autopilot Response with 5 degree input: Time (sec)

15 Phase (deg) Magnitude (db) Longitudinal Controllers Design Stability Margin: 50 Bode Diagram Gm = 8.29 db (at 7.42 rad/sec), Pm = 31.5 deg (at 5.46 rad/sec) Frequency -1 10(rad/sec)

16 Longitudinal Controllers Design

17 Altitude (m) Longitudinal Controllers Design Altitude-Hold Autopilot Response with 200m Step Input: x Time (sec)

18 Speed (m/sec) Longitudinal Controllers Design Speed-Hold Autopilot Response: 350 Time Series Plot: Time (sec)

19 Control Diagram Lateral Controllers Design States Feedback Roll Angle Command Integrator Control Gain Actuator Aircraft Roll Angle

20 Lateral Controllers Design

21 Lateral Controllers Design

22 Lateral Controllers Design

23 Lateral Controllers Design

24 Roll Angle (deg) Lateral Controllers Design Roll Angle Response: Time (sec)

25 Lateral Controllers Design Observer Structure: Actuator Aircraft Aircraft Roll Angle Observer Gain Observer Estimated Roll Angle Estimated Aircraft States

26 Lateral Controllers Design

27 Aileron Input (deg) Yaw Rate (deg/sec) Side Slip Angle (deg) Lateral Controllers Design Observer Response: Time (sec) Time (sec) Time (sec)

28 Roll Angle (deg) Lateral Controllers Design Observer Based LQI Controller Response Time (sec)

29 Speed (m/sec) Altitude (m) Nonlinear Simulation Longitudinal Simulation x Time (sec) Time (sec)

30 Roll Angle (deg) Nonlinear Simulation Lateral Simulation: Roll Angle Response Time (sec)

31 Altitude (m) Nonlinear Simulation Lateral Simulation: Trajectory x Y distance (m) X distance (m) 0.5 x 10 5

32 Yaw Rate (deg/sec) Side Slip Angle (deg) Nonlinear Simulation Lateral Simulation: Observer Response Time (sec)

33 Conclusion 1. The longitudinal SAS and autopilots have been designed based on the linear model using classical control techniques. Each channel has to be tunned to achieve a good response 2. An observer based LQI controller is designed based on linear model using modern control techniques. The observer and controller show good responses. 3. In nonlinear simulation, the controller performance deteriorated because of coupled components and nonlinearities. However because of the integral parts of the controllers, the system can still track the commands without steady-state error

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