The Full Controller for On Board Directly Platform

Transcription

1 h Full Conrollr for On Board Dirly Plafor OCVIN GRIGORE Dparn of ropa Enginring Univriy Polihnia of Buhar Splaiul Indpndni 313, RO-7726, Buhar ROMNI OVIDIU GRIGORE INESC Poro Pr, da Rpublia, , Poro PORUGL bra: I i nown ha on board of an airraf xi o dirly plafor whih u o ra a alli or a fixd ground radio aion for olving h navigaion probl, or o ra o obil arg o olv h guidan probl. In ho y ha finally ar auoai onrol y (a...) uually h oupu valu i h poiion. Wih h dvloping of h digial irui appar h digial auoai onrol y. For h i wa nary o dvlop an pially faily of auaor opaibl wih h digial daa proing. In hi papr a full dirly plafor onrollr on board of a B767 WCS airraf i illurad. Ky-Word: auoai onrol y (a...), dirly plafor, digial auaor, rvooor. 1. Inroduion Hiorially paing h fir a... on board an airraf wa h analogu on [5,6]. Bau of h diadvanag of h (a all rliabiliy and priion, h diffiuly of a opl auoaion of h pro du o h ipoibiliy o oriz h analogu ignal, niiviy of h nvironn aion) appar h niy o ipln a nw agory of a... ho hav h daa proing par ad i digial and h auaor par ad i analogu dvi. For h h advanag ar a br rliabiliy, h inraing of h priion, h opaibiliy wih h daa bu, bu h o unfavorabl i h ipoibiliy of analogu powr onvrion in h digial powr. By xnding of h daa bu on board h airraf ra h poibiliy o apply h auaor opaibl wih h digial daa proing ha an h pping oor, h low-inria DC rvooor. Bau of h b pd of roaion onrol qualiy h o auaor ud in a digial a... on board of an airraf i rondd o b h DC rvooor, whih uual wa dvlopd for ground doially appliaion li h prinr, plor, in wahing ahin [9]. 2. h DC rvooor ud li auoai poiion onrollr I i wll nown ha h o a... of h poiion ar in fa h pd rgulaing y, whih hav h laial oand h hown in Fig.1. [5]. Saring fro h dynaial quaion whih harariz ah par w an ad h analyi of h auoai y bwn wo-ar ipul [6,7]: in Par 1 blo, h quaion of h aplifir i: u u ; å (1) a whr i h aplifir onan. in Par 3 blo h quaion of h DC rvooor and h hanial load ar: d ia ua Ω + Raia + La d d Ω M M r + J + B Ω (2) d M ia ; whr i h..f. onan, R a and L a h rian and induiviy of h indu, M h lroagni oupl, M r h rian oupl, J h inria on and B h viou orqu onan.

2 in Par 2 blo h quaion of h pd randur h aho-gnraor i : u Ω. (3) whr i h gradin faor or ranfr faor of h aho-gnraor. Sar ipul Par 1 Digial auoai onrol y u Par 3 Ω Par 2 u Ral ovn Par 4 Ipo ovn Fig.1 h pd rgulaing y wih ipo pd profil Par1 h digial auoai onrol y; Par 2 h par of load and DC oor; Par 3 h pd randur; Par 4 h poiion randur. How h ahai odl i linar w ould apply h Lapla ranforaion obaind h rul, in ondiion of uing a low-inria DC rvooor, ha an L a : F whr ( ) R Ω u ( ) ( ) R 1 è u ( ) ( ) 1+ δ ( 1+ δ), (4) a δ i a daping faor and J B a h oor hanial onan. W an ha h DC oor bhav li an inrial ln by fir ordr, having a variabl xponnial rpon (Ω) in apparan of h p inpu (u ). Fro h Eq. (1)(2) and (3) rul h following: h inrnal oion y i aboluly abl, hu h aplifir faor an b inra horial howvr uh; h daping inrodud by h vioiy braing faor B dra boh h DC oor onan of i and h oal daping faor; h aplifir faor a dra h onan of i and inra h global aplifir of h y, aion whih lad on h xnion of h y pa band and hrfor o g a far rpon. In h onluion i an b ay ha inrin poiioning rprn a dir onrol of h poiion, hough poiioning yl i onrolld by an auoai onrol y of h pd. h xplanaion of h i ha ah poiioning yl i an xaly ovn quaniy, an inrnal hang of pla, alling oi p. o rdu h poiioning rror i u dra h hanial i onan, by inroduing h ngaiv pd loop, and h anllaion of h poiioning rror fro a yl o anohr i ad by h poiioning loop. 3. h full onrol of a dirly plafor on board h B767 WCS airraf In hi papr h full onrol of a dirly plafor on board a B767 WCS airraf i illurad. h inpu of h inrnal oion onrol y ha oand h dirly plafor for raing a alli i drind by digning fir an auoai fligh onrol y ha ra h obil arg (aud in our a o b a alli). lo i au ha h oion of h j ranpor airraf i unoupld, an ha w an udy h oion indpndnly in vrial plan and in horizonal plan, plan whr i an dfin a lin bwn h airraf and alli whih i alld h lin of igh plan (Fig.2).

3 Viw h dirly plafor y R r Salli w α V r Γ Φ C u v x z Fig.2 h inai y and h parar nd in a raing nario In figur abov Φ i h lin of igh angl in vrial plan and Γ in longiudinal plan, R h dian bwn airraf and arg (alli). For h oion quaion of h airraf I onidrd h following ondiion: h fligh i ruiing in horizonal fligh a approxialy 4 f a Mah nubr.8. For h ondiion h rlvan daa of B767 WCS j airraf ar hown in [3,1]. Wih h daa i an b alulad h y arix for h a vor x [ u w q θ] for longiudinal od and h a vor x v p r φ for laral od: [ ].725 long ; la , whr: u i h x oponn of airpd vor of airplan a nr V; w h z oponn of airpd vor of airplan a nr V; q h y oponn of angular vloiy vor of h airplan ω; θ h y oponn of aiud angl pih angl; v h y oponn of airpd vor of airplan a nr V; p h x oponn of angular vloiy vor of h airplan ω; r h z oponn of angular vloiy vor of h airplan ω; φ h x oponn of aiud angl ban angl, and h oand arix B for h oand vor u [ ] δ [ ] r δ a δ for longiudinal od and u δ for laral od: B long ; B la , whr: δ i h lvaor oand of airplan; δ i h hrol oand; δ r i h rudr oand; δ a i h ailron oand. i nown h abiliy of h airplan i govrnd by h ral par of h ingnvalu, h roo of h hararii quaion of h a arix long and la. lo fro h quaion i ould b alulad h hararii of h ovn whih ar rprnd in abl 1.

4 abl 1 h Mod hararii of B767 WCS irraf Mod Na () rpon () / half () ζ 1 Phugoid Shor-priod Spiral * 75 4 Rolling * Laral oillaion 4.64 * 19.5 Fro abl 1 i an ha h naural od ar wo dapd oillaion, on of long priod and ligh dapd and h ohr of hor priod and havily dapd, wo onvrgn, on vry low and on vry rapid, and h la od i a lighly dapd oillaion. hi rul i qui ypial for a j ranpor airraf. Li oand I hoo for h lvaor δ,ax 2, for h hrol δ p,ax 2, oand whih orrpond o a hru inrn of.5 W, for h rudr δ r,ax 5 and for h ailron δ a,ax 1. In figur 3, 4, 5 and 6 ar rprnd h airraf rajory, h lin of igh angl Φ in longiudinal plan and lin of igh angl Γ in laral plan, angl whih oand h dirly plafor in longiudinal plan, rpivly in laral plan. Fir o vrify h auoai onrol y of h poiion w onidr in Fig.3 for R 48 ha Φ o and Γ 15 o a unral (h B767 airraf ouldn fli a h a aliud wih h alli) [7,1]. h nx p i o iula in Fig.5 a ral a ha an R 48, Φ 6 o and Γ 25 o. Fig.3 h rajory of B767 WCS airraf for R 48, Φ and Γ 15

5 Fig.4 h raing y parar for R 48, Φ and Γ 15 wih oand (δ p, δ a, δ and δ r ) Fig.5 h rajory of B767 WCS airraf for R 48, Φ 6 and Γ 25 Fig.6 h raing y parar for R 48, Φ 6 and Γ 25 wih oand (δ p, δ a, δ and δ r )

6 h angl (Φ and Γ) wih aid of a ahognraor, ha ha h onan 2 /V, ar ranford in h oand nion u. h hararii of DC rvooor ar h following: h rian of indu: R a 1.64 Ω; h induan of indu: L a << R a L a Ω; rad volag: U a 28 V; h inria on: J g/ 2 ; viou orqu onan: B.13 N ; 1 è ( ) ( 1+.3) u ( ) u ( ) u +.4 h ohr hararii fro h oand ha ar (Fig.1): h aplifir onan: 1; h oupl onan: 1,5 V; h onan of poiion randur: p.5 /V. Wih h h DC rvooor roaion pd (4) ar: ( ) u ( ) u ( ) pplying h invrion of Lapla ranforaion w obain h variaion of DC rvooor roaion pd in i: è, long u. 6.5 for longiudinal plan and è, la Φ u Γ for laral plan, whih ar rprnd in figur 4 and Conluion Spaing fro h qualiy poin of viw i an fro figur abov ha h DC rvooor raing wll h lin of igh angl, ha an in h nd h alli arg. So h driv (DC rvooor) wih digial oand an ubiu h old oninu y of driv and poiion, whih u h gyroop. Conrol Sy and Dvi, SU, 1975, U1-U2. [2] M. Hyraud, Sling low inria D.C. rvooor for inrnal oion, Proding of h 5-h Sypoion on Inrnal Moion Conrol Sy and Dvi, SU, 1976, X1-X8. [3] B. Ein, L.D. Rid, Dynai of Fligh- Sabiliy and Conrol, 3-h d., John Wily &Son, In., Nw Yor, [4] B. W. MCori, rodynai, ronaui, and Fligh Mhani, John Wily &Son, In., Nw Yor, [5] B. C. Kou, uoai Conrol Sy, Prni Hall In., hird Ediion, Nw Jry, [6] W. Lonhard, Conrol of lrial driv, Springr Vrlag, Brlin, [7] O. Grigor, n inrnal oion raing onrollr for on board dirly plafor, Rv. Rou. Si. hn. Elrohn. E Enrg,, Buhar, 2. [8] * * * Malab Robu - Conrol oolbox. Ur Guid. [9] * * * MS329C2. Ur Guid, xa Inrun Caalog, 2. [1] * * * Boing Wb Si. Rfrn: [1] B. Elingon, ppliaion of DC rvooor in inrnal oion onrol, Proding of h 4-h Sypoion on Inrnal Moion