GARTEUR Open. RCAM Preliminary Design Document. Flight Mechanics Action Group 08

Transcription

1 GROUP FOR AERONAUTICAL RESEARCH AND TECHNOLOGY IN EUROPE ORIGINAL: ENGLISH Nov. 1, 1995 GARTEUR Open RCAM Preliminary Design Document by Flight Mechanics Action Group 08 GARTEUR aims at stimulating and co-ordinating co-operation between Research Establishments and Industry in the areas of Aerodynamics, Flight Mechanics, Helicopters, Structures & Materials and Propulsion Technology

2 GROUP FOR AERONAUTICAL RESEARCH AND TECHNOLOGY IN EUROPE ORIGINAL: ENGLISH Nov. 1, 1995 GARTEUR Open RCAM Preliminary Design Document by Flight Mechanics Action Group 08 This report has been prepared under auspices of the Responsables for Flight Mechanics, Systems and Integration of the Group for Aeronautical Research and Technology in EURope (GARTEUR) I Group of Resp. : FM-GoR Action Group : FM(AG08) Report Resp. : A. Helmersson..$&,k,-.je Version : 1 t Project Man. : J.C. Terlouw X7P-f Completed : Nov. 1, 1995 Monitoring Resp. : J.T.M. van Doorn 1 GARTEUR 1995

3 QAITEUR Version: 1-2- Date: Nov. 1, 1995 GARTEUR/TP-0889 List of authors Chapters 1-8: Anders Helmerssonl a Chapters 1,8: Phillip Sheen2 a Chapter 7: Paul ~ambrechts~ Linkoping University, S Linkoping, Sweden. andersh@isy.liu.se, fax AVRO International Aerospace, Chester Road, Woodford Stockport, Cheshire SK7 lqr, United Kingdom. phillip.p.j.sheen@woodford.avro.bae.eurokom.ie, fax NLR, Anthony Fokkerweg 2, 1059 CM Amsterdam, The Netherlands. lambo@nlr.nl, fax

4 Version: 1 Date: Nov. 1, 1995 Summary This document describes the preliminary design and evaluation of a controller for the RCAM Design Challenge. This Design Challenge problem was created under the auspices of GARTEUR Action Group FM-AG08. The controller was designed using a normalised co-prime factorisation approach combined with H-infinity synthesis. This method has the advantage of not requiring an explicit description of the system uncertainties. The actual design is based upon loop-shaping and is controlled by selecting weighting functions that enable the system to achieve the performance requirements. The results of the automatic evaluation procedure indicate a reasonable level of performance for a first iteration even though not all of the requirements are satisfied. The format of this report is similar to that required of Design Challenge entries and is intended to give a flavour of what is expected. However, it does not meet all of the requirements laid down in the RCAM Design Challenge Manual, GAFU'EURITP-088-3, and consequently should not be used as a template for Design Challenge Entry documents.

5 dlrffreur Version: 1 - iii - Date: NOV. 1, 1995 GARTEUR/TP FM-AGO8 principal persons Ahmed S (GB) Ambrosino G (IT) Delgado I (ES) Dormido S (ES) Duranti P (IT) Fielding C (UK) Helmersson A (SE) Irving J (GB) Joos H D (DE) Luckner R (DE) Magni J F (FR) Muir E (GB) Post J (NL) Sheen P (GB) StAH-Gunnarsson (SE) Terlouw J C (NL) Vaart J C van der (NL) Verde L (IT) CCL UNAP INTA UNED ALN BAE LiTH BAE (Warton) DLR DAA CERT-ONERA DRA (Bedford) FAC AVRO SMA NLR DUT CIRA 1 copy 3 copies Members of the Flight Mechanics, Systems and Integration Group of Responsables Bramstromm B (SE) FMV-F-FL 1 copy Doorn J T M van (NL) NLR England P (GB) DRA (Bedford) Rodloff R (DE) DLR Verbrugge R A (FR) ONERA-IMFL Heads of National Delegates Bouchet J (FR) DGA/DPSA 4 copies Earwicker M J (GB) DRA (Farnborough ) 4 copies Dollinger W (DE) Bundesministerium fiir 4 copies Forschung und Technologic Houwelingen J van (NL) NLR 4 copies Persson L B (SE) FFA 4 copies

6 Version: 1 Date: Nov. 1, 1995 GARTEURITP iv- Q@RTEUI Members of the Executive Committee Abbink F (NL) NLR Duc J M (FR) ONERA Gustafkson A (SE) FFA Haupt R (DE) DLR/PD-L Coleman G (GB) DRA (Farnborough) Secretary GARTEUR Sombroek L (NL) NLR 0 t hers Ackermann J (DE) Aranda J (ES) Bennani S (NL) Bernussou J (FR) Boer W P de (NL) Boumans L (NL) Ciniglio U (IT) Cook M V (UK) Couwenberg M (NL) Cruz M de la (ES) Dam A A ten (NL) Dang Vu B (FR) Erkelens L (NL) Escande B (FR) Faleiro L (UK) Game G (GB) Geest P van der (NL) Gennuso D (IT) Glover K (UK) Griibel G (DE) Green M (GB) Goverde R (NL) Hulme K (GB) Huynh H T (FR) Huzmezan M (UK) Hyde R (GB) Irving J (UK) DLR UNED DUT LA AS-CNRS NLR NIVR CIRA CUN NLR UNED NLR ONERA (Salon) NLR ONERA LUT BAE (Filton) FAC ALN UCAM DLR AVRO NLR BAE (Warton) ONERA (Salon) UCAM - CCL DAA/BAE 1 copy

7 QAWTEUI Version: 1 -v- Date: Nov. 1, 1995 GARTEURITP LabarrBre M (FR) Lambrechts P (NL) Looije G (NL) Maciejowski J M (GB) Marthez A (ES) Menard P (FR) moor ma^ D (DE) Mulder A (NL) Navarro J L (ES) Papageorgiou G (UK) Pratt R (UK) Quesada J L (ES) Rouwhorst W (NL) Postlethwaite I (GB) Scala S (IT) Schuring J (NL) Schuring-Coops M (NL) Smerlas A (UK) Smith P (GB) Spee J (NL) Tonon A (IT) Tucker M (UK) VaJk P (NL) Walker D (UK) Weiden A van der (NL) Weise K (DE) CERT-ONERA NLR DUT UCAM INTA AS DLR FAC INTA UCAM LUT INTA NLR ULES CIRA NLR NLR ULES DRA (Bedford) NLR ALN ULES DUT ULES DUT DAA 1 copy. 1 copy

8 Version: 1 Date: Nov GARTEURITP Contents -vi- d@lteur List of figures List of tables List of symbols and abbreviations viii ix x 1 Introduction Objectives of Subproject FM-AG Contents of this Document Applied Control Design Methodology Introduction Normalised Coprime Factorization Loop Shaping using Normalised Coprime Factorization Controller Structure Design Cycle Description A Simple Design Example Controller Architecture Introduction Measurement Signals Actuator Signals Filters and models Reference Signals Translation of Design Criteria 12 5 Description of the Design Cycle Introduction Numerical tools for controller synthesis and analysis Longitudinal Channel Inner Loop Model Reduction Inner Loop Controller Structure Linear Analysis Step in Flight Path Angle Step in Velocity Outer Loop Controller Implementing the Controller Lateral Channel... 24

9 Version: 1 Date: Nov Inner Loop Model Reduction Inner Loop Controller Structure Linear Analysis Sideslip Commands Step in Roll Angle Outer Loop Controller Implementing the Controller Analysis of the Controller in Terms of the Applied Methodology 32 7 Results of the Automated Evaluation Procedure Introduction A general view of the results Segment I: the effect of engine failure Segment IT: the 3 deg/s turn Segment 111: the capture of the -6 and -3 degree glideslope Segment TV: the final approach with windshear Numerical results Conclusions 38 References 39 A Used Software 40

10 Version: 1 Date: Nov GARTEURITP List of figures -viii- QIAPEU!IR 2.1 Block diagram of the two-degreeof-freedom controller Gain of the plant G = 1/s2 (solid) and the open loop gain GK, (dashed). 2.3 Response to a step in output disturbance (solid) and reference signal (dashed) for the two-degreeof-fieedom controller K, Structure of the overall controller Structure of the longitudinal controller Structure of the lateral controller Bode plots of the transfer function from de to q and f Singular values of the open loop system with pitch rate feedback only Singular values of sensitivity and complementary sensitivity functions of the longitudinal channel Singular values of K, for the longitudinal controller Response to a step in commanded flight path angle Response to a step in velocity command Response to a step in air velocity Altitude response to a step in commanded altitude of 1 m (linearised model). 5.9 Structure of the longitudinal controller Singular values of sensitivity functions of the lateral channel Response to a command in sideslip angle of 2 deg Response to a 20-deg step in roll angle command Open loop response of the lateral tracking dynamics from and q5c to lateral error gv Closed loop lateral response to a unit lateral command Structure of the longitudinal controller The trajectory response of the controlled RCAM model Segment I: the effect of engine failure Segment 11: the 3 deg/s turn Segment 11: lateral deviations during the 3 deg/s turn Segment 111: the capture of the -6 and -3 degree glideslope Segment 111: vertical deviations from the desired glideslope Segment IV: the final approach with windshear Segment IV: vertical deviations from the desired glideslope...

11 QIITE!LII Version: 1 -ix- Date: Nov. 1, 1995 GARTEURITP List of tables 5.1, MATLAB functions used during the design Numerical results of the evaluation procedure

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

51

52

53

54

55

56