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NASA NTRS1972

4-D guidance system design with application to STOL air traffic control.

A new guidance technique, referred to as 4-D guidance, is being developed to improve the operation of future STOL aircraft transportation systems. 4-D guidance refers to a technique of synthesizing a complex three-dimensional flight path from simple pilot inputs and flying the aircraft along the path according to an ATC specified time schedule. The two major elements of a 4-D guidance system are the trajectory synthesizer and the control law for flying the aircraft along the synthesized trajectory using the aircraft's autopilot and autothrottle. Inputs to the trajectory synthesizer are the three-dimensional coordinates of waypoints, the turning radius, the speed range, the acceleration limits and the arrival time at time control waypoints. First the three-dimensional trajectory is computed using circular arcs and straight lines. Then the airspeed profile, compensated for wind, is calculated to achieve the desired arrival times. The pilot is informed if the arrival times cannot be achieved. The synthesized trajectory is stored as a time sequence of reference states and controls which the aircraft is forced to track using a linear feedback law.

Erzberger, H.↗

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 NTRS2006

Estimation of Stability and Control Derivatives of an F-15

A technique for real-time estimation of stability and control derivatives (derivatives of moment coefficients with respect to control-surface deflection angles) was used to support a flight demonstration of a concept of an indirect-adaptive intelligent flight control system (IFCS). Traditionally, parameter identification, including estimation of stability and control derivatives, is done post-flight. However, for the indirect-adaptive IFCS concept, parameter identification is required during flight so that the system can modify control laws for a damaged aircraft. The flight demonstration was carried out on a highly modified F-15 airplane (see Figure 1). The main objective was to estimate the stability and control derivatives of the airplane in nearly real time. A secondary goal was to develop a system to automatically assess the quality of the results, so as to be able to tell a learning neural network which data to use. Parameter estimation was performed by use of Fourier-transform regression (FTR) a technique developed at NASA Langley Research Center. FTR is an equation- error technique that operates in the frequency domain. Data are put into the frequency domain by use of a recursive Fourier transform for a discrete frequency set. This calculation simplifies many subsequent calculations, removes biases, and automatically filters out data beyond the chosen frequency range. FTR as applied here was tailored to work with pilot inputs, which produce correlated surface positions that prevent accurate parameter estimates, by replacing half the derivatives with predicted values. FTR was also set up to work only on a recent window of data, to accommodate changes in flight condition. A system of confidence measures was developed to identify quality-parameter estimates that a learning neural network could use. This system judged the estimates primarily on the basis of their estimated variances and of the level of aircraft response. The resulting FTR system was implemented in the Simulink software system and auto-coded in the C programming language for use on the Airborne Research Test System (ARTS II) computer installed in the F-15 airplane. The Simulink model was also used in a control room that utilizes the Ring Buffered Network Bus hardware and software, making it possible to evaluate test points during flights. In-flight parameter estimation was done for piloted and automated maneuvers, primarily at three test conditions. Figure 2 shows results for pitching moment due to symmetric stabilator actuations for a series of three pitch doublet maneuvers (in a doublet maneuver, a command to change attitude in a given direction by a given amount is followed immediately by a command to change attitude in the opposite direction by the same amount). A time window of 5 seconds was used. The portions of the curves shown in red are those that passed the confidence tests. The technique showed good convergence for most derivatives for both kinds of maneuvers - typically within a few seconds. The confidence tests were marginally successful, and it would be necessary to refine them for use in an IFCS.

Smith, Mark↗

NASA NTRS1986

Effect of time delay on flying qualities: An update

Flying qualities problems of modern, full-authority electronic flight control systems are most often related to the introduction of additional time delay in aircraft response to a pilot input. These delays can have a significant effect on the flying qualities of the aircraft. Time delay effects are reexamined in light of recent flight test experience with aircraft incorporating new technology. Data from the X-29A forward-swept-wing demonstrator, a related preliminary in-flight experiment, and other flight observations are presented. These data suggest that the present MIL-F-8785C allowable-control system time delay specifications are inadequate or, at least, incomplete. Allowable time delay appears to be a function of the shape of the aircraft response following the initial delay. The cockpit feel system is discussed as a dynamic element in the flight control system. Data presented indicate that the time delay associated with a significant low-frequency feel system does not result in the predicted degradation in aircraft flying qualities. The impact of the feel system is discussed from two viewpoints: as a filter in the control system which can alter the initial response shape and, therefore, the allowable time delay, and as a unique dynamic element whose delay contribution can potentially be discounted by special pilot loop closures.

Smith, R. E.↗

NASA NTRS1986

Effect of time delay on flying qualities - An update

Flying qualities problems of modern, full-authority electronic flight control systems are most often related to the introduction of additional time delay in aircraft response to a pilot input. These delays can have a significant effect on the flying qualities of the aircraft. This paper reexamines time delay effects in light of recent flight test experience with aircraft incorporating new technology. Data from the X-29A forward-swept-wing demonstrator, a related preliminary in-flight experiment, and other flight observations are presented. These data suggest that the present MIL-F-8785C allowable-control system time delay specifications are inadequate or, at least, incomplete. Allowable time delay appears to be a function of the shape of the aircraft response following the initial delay. The cockpit feel system is discussed as a dynamic element in the flight control system. Data presented indicate that the time delay associated with a significant low-frequency feel system does not result in the predicted degradation in aircraft flying qualities. The impact of the feel system is discussed from two viewpoints: as a filter in the control system which can alter the initial response shape and, therefore, the allowable time delay, and as a unique dynamic element whose delay contribution can potentially be discounted by special pilot loop closures.

Smith, R. E.↗

NASA NTRS1974

Optimal controller design for high performance aircraft undergoing large disturbance angles

An examination of two aircraft controller structures applicable to on-line implementation was conducted. The two controllers, a linear regulator model follower and an inner-product model follower, were applied to the lateral dynamics of the F8-C aircraft. For the purposes of this research effort, the lateral dynamics of the F8-C aircraft were considered. The controller designs were evaluated for four flight conditions. Additionally, effects of pilot input, rapid variation of flight condition and control surface rate and magnitude deflection limits were considered.

Rhoten, R. P.↗

NASA NTRS1974

Application of a Kalman filter identification technique to flight data from the X-22A variable stability V/STOL aircraft

A digital identification technique based on Kalman filter theory was developed for the estimation of V/STOL aircraft stability and control parameters from flight data. The application of this technique to flight data from flying qualities experiments using the variable stability X-22A V/STOL aircraft is discussed. The estimation algorithm is briefly reviewed, experimental and data acquisition procedures used in the X-22A flight programs are outlined, and specific problem areas such as the determination of noise statistics and selection of pilot inputs to enhance identifiability are discussed. Results are presented for a wide range of simulated dynamic configurations.

Lebacqz, J. V.↗

NASA NTRS1974

Instrumentation and control system for an F-15 stall/spin

An instrumentation and control system is described that was used for radio-controlled F-15 airplane model stall/spin research at the NASA-Langley Research Center. This stall/spin research technique, using scale model aircraft, provides information on the post-stall and spin-entry characteristics of full-scale aircraft. The instrumentation described provides measurements of flight parameters such as angle of attack and sideslip, airspeed, control-surface position, and three-axis rotation rates; these data are recorded on an onboard magnetic tape recorder. The proportional radio control system, which utilizes analog potentiometric signals generated from ground-based pilot inputs, and the ground-based system used in the flight operation are also described.

Pitts, F. L.↗

NASA NTRS1976

Estimation of characteristics and stochastic control of an aircraft flying in atmospheric turbulence

An adaptive control technique to improve the flying qualities of an aircraft in turbulence was investigated. The approach taken was to obtain maximum likelihood estimates of the unknown coefficients of the aircraft system and then, using these estimates along with the separation principle, to define the stochastic optimal control. The maximum likelihood estimation technique that accounted for the effects of turbulence provided good estimates of the unknown coefficients and of the turbulence. The assessment of the stochastic optimal control based on the maximum likelihood estimates showed that the desired effects were attained for the regulator problem of minimizing pitch angle and the tracking problem of requiring normal acceleration to follow the pilot input.

Iliff, K. W.↗

NASA NTRS1978

V/STOL aircraft simulation - Requirements and capabilities at Ames Research Center

Ground-based flight simulation contributes greatly to the development of new aircraft and flight management systems and will be especially important in improving the performance, safety, and environmental characteristics of future civil and military V/STOL aircraft. This paper describes existing simulation facilities at Ames Research Center and discusses their capabilities and limitations for V/STOL aircraft investigations. Simulation requirements for NASA research and support of DOD programs are also discussed, including technology development for advanced rotorcraft and civil and military V/STOL aircraft. Current efforts and future plans are described for the upgrading of Ames simulation facilities to meet those requirements. Recent advances in equipment technology and operational methodology are shown to provide significantly improved simulation fidelity through better motion and visual cues and faster system response to pilot inputs.

Wilcox, D. E.↗

NASA NTRS1980

Low order equivalent models of highly augmented aircraft determined from flight data using maximum likelihood estimation

This paper presents the results of a study of the feasibility of using low order equivalent mathematical models of a highly augmented aircraft, the F-8 digital fly-by-wire (DFBW), for flying qualities research. Increasingly complex models were formulated and evaluated using flight data and maximum likelihood estimation techniques. The aircraft actuator was modeled alone first. Next the equivalent derivatives were used to model the longitudinal unaugmented F-8 DFBW aircraft dynamics. The most complex model incorporated a pure time shift of the pilot input, a first order lag, and the basic longitudinal airframe model. This same model was then implemented for the F-8 DFBW aircraft in a highly augmented mode. Excellent matching of the dynamics resulted for this model, indicating that low order equivalent models which are good representations of the highly augmented F-8 DFBW aircraft can be formulated with these methods.

Shafer, M. F.↗

NASA NTRS1983

A modal analysis of flexible aircraft dynamics with handling qualities implications

A multivariable modal analysis technique is presented for evaluating flexible aircraft dynamics, focusing on meaningful vehicle responses to pilot inputs and atmospheric turbulence. Although modal analysis is the tool, vehicle time response is emphasized, and the analysis is performed on the linear, time-domain vehicle model. In evaluating previously obtained experimental pitch tracking data for a family of vehicle dynamic models, it is shown that flexible aeroelastic effects can significantly affect pitch attitude handling qualities. Consideration of the eigenvalues alone, of both rigid-body and aeroelastic modes, does not explain the simulation results. Modal analysis revealed, however, that although the lowest aeroelastic mode frequency was still three times greater than the short-period frequency, the rigid-body attitude response was dominated by this aeroelastic mode. This dominance was defined in terms of the relative magnitudes of the modal residues in selected vehicle responses.

Schmidt, D. K.↗

NASA NTRS1984

A nonlinear filter for compensating for time delays in manual control systems

A nonlinear filter configured to provide phase lead without accompanying gain distortion is analyzed and evaluated. The nonlinear filter is superior to a linear lead/lag compensator in its ability to maintain system stability as open loop crossover frequency is increased. Test subjects subjectively rated the filter as slightly better than a lead/lag compensator in its ability to compensate for delays in a compensatory tracking task. However, the filter does introduce unwanted harmonics. This is particularly noticeable for low frequency pilot inputs. A revised compensation method is proposed which allows such low frequency inputs to bypass the nonlinear filter. A brief analytical and experimental evaluation of the revised filter indicates that further evaluation in more realistic tasks is justified.

Hess, R. A.↗

NASA NTRS1988

Transport delay compensation for computer-generated imagery systems

In the problem of pure transport delay in a low-pass system, a trade-off exists with respect to performance within and beyond a frequency bandwidth. When activity beyond the band is attenuated because of other considerations, this trade-off may be used to improve the performance within the band. Specifically, transport delay in computer-generated imagery systems is reduced to a manageable problem by recognizing frequency limits in vehicle activity and manual-control capacity. Based on these limits, a compensation algorithm has been developed for use in aircraft simulation at NASA Ames Research Center. For direct measurement of transport delays, a beam-splitter experiment is presented that accounts for the complete flight simulation environment. Values determined by this experiment are appropriate for use in the compensation algorithm. The algorithm extends the bandwidth of high-frequency flight simulation to well beyond that of normal pilot inputs. Within this bandwidth, the visual scene presentation manifests negligible gain distortion and phase lag. After a year of utilization, two minor exceptions to universal simulation applicability have been identified and subsequently resolved.

Mcfarland, Richard E.↗

NASA NTRS1987

An analysis of a candidate control algorithm for a ride quality augmentation system

This paper presents a detailed analysis of a candidate algorithm for a ride quality augmentation system. The algorithm consists of a full-state feedback control law based on optimal control output weighting, estimators for angle of attack and sideslip, and a maneuvering algorithm. The control law is shown to perform well by both frequency and time domain analysis. The rms vertical acceleration is reduced by about 40 percent over the whole mission flight envelope. The estimators for the angle of attack and sideslip avoid the often inaccurate or costly direct measurement of those angles. The maneuvering algorithm will allow the augmented airplane to respond to pilot inputs. The design characteristics and performance are documented by the closed-loop eigenvalues; rms levels of vertical, lateral, and longitudinal acceleration; and representative time histories and frequency response.

Suikat, Reiner↗

NASA NTRS1988

Transport delay compensation for computer-generated imagery systems

Mcfarland, Richard E.↗

NASA NTRS1990

Piloted simulator assessments of agility

NASA has utilized piloted simulators for nearly two decades to study high-angle-of-attack flying qualities, agility, and air-to-air combat. These studies have included assessments of an F-16XL aircraft equipped with thrust vectoring, an assessment of the F-18 HARV maneuvering requirements to assist in thrust vectoring control system design, and an agility assessment of the F-18. The F-18 agility assessment was compared with in-flight testing. Open-loop maneuvers such as 180-deg rolls to measure roll rate showed favorable simulator/in-flight comparison. Closed-loop maneuvers such as rolls to 90 deg with precision stops or certain maximum longitudinal pitching maneuvers showed poorer performance due to reduced aggressiveness of pilot inputs in flight to remain within flight envelope limits.

Schneider, Edward T.↗

NASA NTRS1989

AFTI/F-111 mission adaptive wing flight test instrumentation overview

The AFTI F-111 Mission Adaptive Wing (MAW) development is described together with the flight test demonstration program. The program developed a smooth variable camber wing and flight control system capable of adjusting the wing's airfoil shape in flight in response to pilot input and flight condition, in order to maximize the aerodynamic efficiency in all areas of flight envelope. This paper examines the instrumentation requirements and the systems implemented and presents the results of flight tests. These results demonstrate the practicality, airworthiness, maintainability, and performance benefits of the smooth variable camber wing system.

Bonnema, Kenneth L.↗