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NASA NTRS1971

Time domain and frequency domain design techniques for model reference adaptive control systems

Some problems associated with the design of model-reference adaptive control systems are considered and solutions to these problems are advanced. The stability of the adapted system is a primary consideration in the development of both the time-domain and the frequency-domain design techniques. Consequentially, the use of Liapunov's direct method forms an integral part of the derivation of the design procedures. The application of sensitivity coefficients to the design of model-reference adaptive control systems is considered. An application of the design techniques is also presented.

Boland, J. S., III↗

NASA NTRS1984

Total energy-rate feedback for automatic glide-slope tracking during wind-shear penetration

Low-altitude wind shear is recognized as an infrequent but significant hazard to all aircraft during the take-off and landing phases of flight. A total energy-rate sensor was developed for measuring the specific total energy rate of an airplane with respect to the air mass. Control-system designs, both with and without energy-rate feedback, for the approach to landing of a transport airplane through a severe-wind-shear and gust environment are presented in order to evaluate this application of the sensor. A system model incorporates wind-shear-dynamics equations with the airplane equations of motion to permit analysis of the control systems under various wind-shear conditions. The control systems are designed using optimal-output feedback and are analyzed using frequency-domain control-theory techniques. Control-system performance is evaluated using a complete nonlinear simulation of the airplane combined with a severe-wind-shear and gust data package. This evaluation is concerned with control system stability and regulation capability only.

Belcastro, C. M.↗

NASA NTRS1981

Aircraft control-display analysis and design using the optimal control model of the human pilot

The use of the optimal control model (OCM) of the human pilot as a design tool is discussed. A novel procedure for the assignment and selection of model parameters in the absence of experimental data is proposed. A technique for partitioning a weakly coupled, multiaxis task into approximate state-uncoupled, single-axis tasks is introduced. The resulting modeling technique is utilized in the design and analysis of an aircraft flight-director system. This flight-director design technique differs from previous related work using the OCM in that considerable effort is devoted to ensuring that the OCM-designed director exhibits the desirable frequency-domain characteristics associated with experimentally verified classical designs (e.g., K/s 'effective vehicle' characteristics, noninteracting controls). The implications of the technique in the design of automatic flight control systems which employ the human pilot as a performance assessor and failure detector are briefly discussed.

Hess, R. A.↗

NASA NTRS1984

The VERRUN and VERNAL software systems for steady-state visual evoked response experimentation

Two digital computer programs were developed for use in experiments involving steady-state visual evoked response (VER): VERRUN, whose primary functions are to generate a sum-of-sines (SOS) stimulus and to digitize and store electro-cortical response; and VERNAL, which provides both time- and frequency-domain metrics of the evoked response. These programs were coded in FORTRAN for operation on the PDP-11/34, using the RSX-11 Operating System, and the PDP-11/23, using the RT-11 Operating System. Users' and programmers' guides to these programs are provided, and guidelines for model analysis of VER data are suggested.

Levison, W. H.↗

NASA NTRS1980

Identification of flexible aircraft from flight data

This paper describes a frequency-domain method for the estimation of the aeroelastic equations of motion of an aircraft using discrete sinusoidal inputs to the control surface actuators. The theory of estimation of the signal inputs and outputs is described as well as the method of obtaining accurate transfer functions from the resulting Bode plots. Methods of quantifying the accuracy of the results from more than one control input are discussed along with ways to obtain state-space and reduced-order models from the transfer function estimates. Presented is a summary of the results obtained in using the technique to develop a model of the USAF Total In-Flight Simulator (TIFS) aircraft which includes five symmetrical elastic modes of motion of the aircraft.

Eulrich, B. J.↗

NASA NTRS1986

The application of quadratic optimal cooperative control synthesis to a CH-47 helicopter

A control-system design method, Quadratic Optimal Cooperative Control Synthesis (CCS), is applied to the design of a Stability and Control Augmentation Systems (SCAS). The CCS design method is different from other design methods in that it does not require detailed a priori design criteria, but instead relies on an explicit optimal pilot-model to create desired performance. The design model, which was developed previously for fixed-wing aircraft, is simplified and modified for application to a Boeing Vertol CH-47 helicopter. Two SCAS designs are developed using the CCS design methodology. The resulting CCS designs are then compared with designs obtained using classical/frequency-domain methods and Linear Quadratic Regulator (LQR) theory in a piloted fixed-base simulation. Results indicate that the CCS method, with slight modifications, can be used to produce controller designs which compare favorably with the frequency-domain approach.

Townsend, Barbara K.↗

NASA NTRS1987

The application of quadratic optimal cooperative control synthesis to a CH-47 helicopter

A control-system design method, quadratic optimal cooperative control synthesis (CCS), is applied to the design of a stability and control augmentation system (SCAS). The CCS design method is different from other design methods in that it does not require detailed a priori design criteria, but instead relies on an explicit optimal pilot-model to create desired performance. The design method, which was developed previously for fixed-wing aircraft, is simplified and modified for application to a Boeing CH-47 helicopter. Two SCAS designs are developed using the CCS design methodology. The resulting CCS designs are then compared with designs obtained using classical/frequency-domain methods and linear quadratic regulator (LQR) theory in a piloted fixed-base simulation. Results indicate that the CCS method, with slight modifications, can be used to produce controller designs which compare favorably with the frequency-domain approach.

Townsend, Barbara K.↗

NASA NTRS1985

A review of time-domain and frequency-domain component mode synthesis method

Hurty (1965) has conducted a dynamic analysis of structural systems using component modes. The component mode synthesis (CMS) procedure considered by him represents a form of substructure coupling analysis which is often utilized in structural dynamics. Time-domain CMS methods employing real modes are discussed, taking into account real component modes, normal modes, redundant constraint modes, rigid-body modes, attachment modes, inertia-relief modes, statically-complete interface mode sets, dynamic component mode supersets, component modal models, the coupling of components, and the classification of methods. Attention is also given to the experimental determination of component mode synthesis parameters, time-domain CMS methods for damped systems, and frequency-domain CMS methods for damped systems.

Craig, R. R., Jr.↗

NASA NTRS1984

Comparison of frequency-domain and time-domain rotorcraft vibration control methods

Active control of rotor-induced vibration in rotorcraft has received significant attention recently. Two classes of techniques have been proposed. The more developed approach works with harmonic analysis of measured time histories and is called the frequency-domain approach. The more recent approach computes the control input directly using the measured time history data and is called the time-domain approach. The report summarizes the results of a theoretical investigation to compare the two approaches. Five specific areas were addressed: (1) techniques to derive models needed for control design (system identification methods), (2) robustness with respect to errors, (3) transient response, (4) susceptibility to noise, and (5) implementation difficulties. The system identification methods are more difficult for the time-domain models. The time-domain approach is more robust (e.g., has higher gain and phase margins) than the frequency-domain approach. It might thus be possible to avoid doing real-time system identification in the time-domain approach by storing models at a number of flight conditions. The most significant error source is the variation in open-loop vibrations caused by pilot inputs, maneuvers or gusts. The implementation requirements are similar except that the time-domain approach can be much simpler to implement if real-time system identification were not necessary.

Gupta, N. K.↗

NASA NTRS1983

Frequency-domain identification of XV-15 tilt-rotor aircraft dynamics

Frequency-domain methods are used to identify the open-loop dynamics of the XV-15 tilt-rotor aircraft from flight tests. Piloting and data analysis techniques are presented to determine frequency response plots and equivalent transfer function models. The open-loop pitch and roll dynamics for the hover flight condition exhibit unstable low-frequency oscillations, whereas the dynamics in the remaining degrees of freedom are lightly damped and generally decoupled. Comparisons of SV-13 flight-test and simulator data are more favorable for high-frequency inputs (omega greater than 1.0 rad/sec) than low-frequency inputs. The identification of symmetric and asymmetric beam-bending modes compares favorably with previous flight-test data. The results presented in this paper demonstrate the utility of the frequency-domain techniques for dynamics identification and simulator fidelity studies.

Tischler, M. B.↗

NASA NTRS1985

Frequency-Domain Identification of XV-15 Tilt-Rotor Aircraft Dynamics in Hovering Flight

Frequency-domain methods are used to identify the open-loop dynamics of the XV-15 tilt-rotor aircraft from flight tests. Piloting and data analysis techniques are presented to determine frequency response plots and equivalent transfer function models. The open-loop pitch and roll dynamics for the hover flight condition exhibit unstable low-frequency oscillations, whereas the dynamics in the remaining degrees of freedom are lightly damped and generally decoupled. Comparisons of XV-15 flight-test and simulator data are more favorable for high-frequency inputs (omega greater than 1.0 rad/sec) than low-frequency inputs. Time-domain comparisons of the extracted transfer functions with step response flight data are very favorable, even for large amplitude motions. The results presented in this paper demonstrate the utility of the frequency-domain techniques for dynamics identification and simulator fidelity studies.

Tischler, Mark B.↗

NASA NTRS1976

Frequency domain approach for evaluation of stochastic control of elastic spacecraft

An attempt is made to develop a reduced-order filter for an elastic spacecraft. The frequency-domain approach is resorted to both for arriving at an appropriate ROF and for evaluating the resulting stochastic flight controller. The frequency-domain approach employed is contrasted to the time-domain approach previously utilized by the authors. A linearized deterministic dynamical model of a solar electric propulsion spacecraft is analyzed. Flexibility modes were incorporated profitably into the ROF model, and the stochastic controllers exhibit notching of structural resonances reminiscent of classical notch filters. Accurate estimates of modal parameters (damping, natural frequency) are deemed crucial, and use of worst-case values in the ROF design is recommended.

Larson, V.↗

NASA NTRS1977

Dynamic response and stability analysis of flexible, multibody systems

A general version of Lagrange's equations, including auxiliary nonholonomic, rheonomic conditions of constraint, is used in the dynamic simulation and stability analysis of interconnected flexible bodies. Modeling of the nonlinear flexible/rigid dynamic coupling effects, the interaction forces/torques, and the elastic deformation effects is discussed. A digital computer program is developed to obtain time-domain solution for the nonlinear response of systems represented as a collection of individual bodies, numerical linearization of system-governing equations, time-domain solution for the perturbation response about a nominal state, and a frequency-domain stability analysis corresponding to the linearization. The digital simulation code is employed to study the dynamic behavior of a typical satellite and a spacecraft with deployable experiment booms.

Bodley, C. S.↗

NASA NTRS1981

Practical gust load alleviation and flutter suppression control laws based on a LQG methodology

A modified linear quadratic Gaussian (LQG) synthesis procedure has been used to design low-order robust multiloop controllers for a flexible airplane. The introduction of properly constructed fictitious Gauss-Markov processes in the control loops allowed meeting classical frequency-domain stability criteria using the direct synthesis procedures of modern time-domain control theory. Model reduction was used to simplify the control laws to the point where they could be easily implemented on onboard flight computers. These control laws provided excellent gust load and flutter mode control with good stability margins and compared very favorably to other control laws synthesized by the classical root-locus technique.

Gangsaas, D.↗

NASA NTRS1984

A SAR correlation algorithm which accommodates large-range migration

This paper presents an algorithm for azimuth correlation of synthetic aperture radar (SAR) data with extraordinarily large-range migration which cannot be accommodated by the existing frequency domain interpolation approach used in current Seasat SAR processing. A mathematical model is provided for the SAR range-correlated point-target response both in the spatial and frequency domains. A simple and efficient processing algorithm derived from the exact two-dimensional correlation algorithm is given. This algorithm enables azimuth correlation by two cascaded one-dimensional correlation steps. The first step is to transform the range-correlated SAR data into the frequency domain in azimuth, followed by a newly developed range convolution filter to correct the range-dispersed spectrum of the range-correlated point-target response (RCPTR). The second step is the frequency-domain range migration correction approach for the azimuth compression. Simulation results provided here indicate that this processing algorithm yields a satisfactory compressed impulse response for SAR data with large-range migration whereas previous methods were subject to a broadening of the impulse response along range.

Jin, M. Y.↗

NASA NTRS1984

A linearized unsteady aerodynamic analysis for transonic cascades

The unsteady airloads generated by the vibrations of turbomachine blades operating at transonic Mach numbers are predicted by a linearized potential flow analysis whose unsteady aerodynamics model encompasses the effects of blade geometry, nonzero mean pressure variation across the blade row, high frequency blade motion, and shock motion, all within the framework of a linearized frequency-domain formulation. A numerical solution for the entire unsteady flow field is determined by matching a solution covering an extended blade passage region to another covering, and extending beyond, the supersonic region(s) adjacent to a blade surface. Results are given for cascades of double circular arc and flat plate blades, in order to demonstrate the unsteady analysis and to partially illustrate the effects of blade geometry, inlet Mach number, vibration frequency and shock motion on unsteady response.

Verdon, J. M.↗

NASA NTRS1987

Demonstration of frequency-sweep testing technique using a Bell 214-ST helicopter

A demonstration of frequency-sweep testing using a Bell-214ST single-rotor helicopter was completed in support of the Army's development of an updated MIL-H-8501A, and an LHX (ADS-33) handling-qualities specification. Hover and level-flight (V sub a = 0 knots and V sub a = 90 knots) tests were conducted in 3 flight hours by Army test pilots at the Army Aviation Engineering Flight Activity (AEFA) at Edwards AFB, Calif. Bandwidth and phase-delay parameters were determined from the flight-extracted frequency responses as required by the proposed specifications. Transfer function modeling and verification demonstrates the validity of the frequency-response concept for characterizing closed-loop flight dynamics of single-rotor helicopters -- even in hover. This report documents the frequency-sweep flight-testing technique and data-analysis procedures. Special emphasis is given to piloting and analysis considerations which are important for demonstrating frequency-domain specification compliance.

Tischler, Mark B.↗

NASA NTRS1986

Flight evaluation of height response characteristics for the hover bob-up task and comparison with proposed criteria

The CH-47B variable-stability helicopter was used to evaluate a range of height-response configurations while performing a precision hover bob-up task. The purpose of the study was to assess the validity of results obtained in previous ground-based and in-flight simulations in the context of a precision bob-up task and to provide additional flight data for inclusion in revisions to specifications for helicopter handling qualities. Height response characteristics were implemented using explicit model-following techniques, and the resulting CH-47B dynamics were validated using time-domain and frequency-domain data-analysis methods. The tests complemented the previous investigations by providing detailed pilot comments and ratings, and performance and control-utilization data that relate exclusively to the hover bob-up task. The results are compared with those from previous investigations and with new criteria that have been proposed for handling qualities requirements for helicopters.

Hindson, W. S.↗