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Several examples are presented in which flutter involving interaction between flight mechanics modes and elastic wind bending occurs for a forward swept wing flight vehicle. These results show the basic mechanism by which the instability occurs and form the basis for attempts to actively control such a vehicle.
A simulator study was conducted to verify the advantages of a Newton-Raphson model-inversion technique as a design basis for an automatic trajectory control system in an aircraft with highly nonlinear characteristics. The simulation employed a detailed mathematical model of the aerodynamic and propulsion system performance characteristics of a vertical-attitude takeoff and landing tactical aircraft. The results obtained confirm satisfactory control system performance over a large portion of the flight envelope. System response to wind gusts was satisfactory for various plausible combinations of wind magnitude and direction.
In this paper, we propose a saturation control scheme for linear parameter-varying (LPV) systems from an antiwindup control perspective. The proposed control approach is advantageous because it can be thought of as an augmented control algorithm from the existing control system. Moreover, the synthesis condition for an antiwindup compensator is formulated as a linear matrix inequality (LMI) optimization problem and can be solved efficiently. We have applied the LPV antiwindup controller to an F-16 longitudinal autopilot control system design to enhance aircraft safety and improve flight quality in a high angle of attack region.
Simple mechanical linkages are often unable to cope with the many control problems associated with high performance aircraft maneuvering over a wide flight envelope. One procedure for retaining uniform handling qualities over such an envelope is to implement a digital adaptive controller. Towards such an implementation an explicit adaptive controller, which makes direct use of online parameter identification, has been developed and applied to the linearized equations of motion for a typical fighter aircraft. The system is composed of an online weighted least squares identifier, a Kalman state filter, and a single stage real model following control law. The corresponding control gains are readily adjustable in accordance with parameter changes to ensure asymptotic stability if the conditions for perfect model following are satisfied and stability in the sense of boundedness otherwise.
Simple mechanical linkages have not solved the many control problems associated with high performance aircraft maneuvering throughout a wide flight envelope. One procedure for retaining uniform handling qualities over such an envelope is to implement a digital adaptive controller. Towards such an implementation an explicit adaptive controller which makes direct use of on-line parameter identification, has been developed and applied to both linearized and nonlinear equations of motion for a typical fighter aircraft. This controller is composed of an on-line weighted least squares parameter identifier, a Kalman state filter, and a model following control law designed using single stage performance indices. Simulation experiments with realistic measurement noise indicate that the proposed adaptive system has the potential for on-board implementation.
A flight experiment of a mechanically pumped two-phase ammonia thermal control system, incorporating a number of new component designs, has been assembled and tested in a 1-g environment. Additional microgravity tests are planned on the Space Shuttle when Shuttle flights are resumed. The primary purpose of this experiment is to evaluate the operation of a mechanically pumped two-phase ammonia system, with emphasis on determining the performance of an evaporative Two-Phase Mounting Plate. The experiment also evaluates the performance of other specially designed components, such as the two-phase reservoir for temperature control, condensing radiator/heat sink, spiral tube boiler, and pressure drop experiment. The 1-g tests have shown that start-up of the two-phase experiment is easily accomplished with only a partial fill of ammonia. The experiment maintained a constant mounting plate temperature without flow rate controls over a very wide range of heat loads, flow rates, inlet flow conditions and exit qualities. The tests also showed the successful operation of the mounting plate in the heat sharing condensing mode.
This paper highlights some of the results and issues associated with estimating models to evaluate control law design methods and design criteria for advanced high performance aircraft. Experimental fighter aircraft such as the NASA-High Alpha Research Vehicle (HARV) have the capability to maneuver at very high angles of attack where nonlinear aerodynamics often predominate. HARV is an experimental F/A-18, configured with thrust vectoring and conformal actuated nose strakes. Identifying closed-loop models for this type of aircraft can be made difficult by nonlinearities and high order characteristics of the system. In this paper, only lateral-directional axes are considered since the lateral-directional control law was specifically designed to produce classical airplane responses normally expected with low-order, rigid-body systems. Evaluation of the control design methodology was made using low-order equivalent systems determined from flight and simulation. This allowed comparison of the closed-loop rigid-body dynamics achieved in flight with that designed in simulation. In flight, the On Board Excitation System was used to apply optimal inputs to lateral stick and pedals at five angles at attack : 5, 20, 30, 45, and 60 degrees. Data analysis and closed-loop model identification were done using frequency domain maximum likelihood. The structure of identified models was a linear state-space model reflecting classical 4th-order airplane dynamics. Input time delays associated with the high-order controller and aircraft system were accounted for in data preprocessing. A comparison of flight estimated models with small perturbation linear design models highlighted nonlinearities in the system and indicated that the closed-loop rigid-body dynamics were sensitive to input amplitudes at 20 and 30 degrees angle of attack.
This paper highlights some of the results and issues associated with estimating models to evaluate control law design methods and design criteria for advanced high performance aircraft. Experimental fighter aircraft such as the NASA High Alpha Research Vehicle (HARV) have the capability to maneuver at very high angles of attack where nonlinear aerodynamics often predominate. HARV is an experimental F/A-18, configured with thrust vectoring and conformal actuated nose strakes. Identifying closed-loop models for this type of aircraft can be made difficult by nonlinearities and high-order characteristics of the system. In this paper only lateral-directional axes are considered since the lateral-directional control law was specifically designed to produce classical airplane responses normally expected with low-order, rigid-body systems. Evaluation of the control design methodology was made using low-order equivalent systems determined from flight and simulation. This allowed comparison of the closed-loop rigid-body dynamics achieved in flight with that designed in simulation. In flight, the On Board Excitation System was used to apply optimal inputs to lateral stick and pedals at five angles of attack: 5, 20, 30, 45, and 60 degrees. Data analysis and closed-loop model identification were done using frequency domain maximum likelihood. The structure of the identified models was a linear state-space model reflecting classical 4th-order airplane dynamics. Input time delays associated with the high-order controller and aircraft system were accounted for in data preprocessing. A comparison of flight estimated models with small perturbation linear design models highlighted nonlinearities in the system and indicated that the estimated closed-loop rigid-body dynamics were sensitive to input amplitudes at 20 and 30 degrees angle of attack.
The experience gained in digital fly-by-wire technology through a flight test program being conducted by the NASA Dryden Flight Research Center in an F-8C aircraft is described. The system requirements are outlined, along with the requirements for flight qualification. The system is described, including the hardware components, the aircraft installation, and the system operation. The flight qualification experience is emphasized. The qualification process included the theoretical validation of the basic design, laboratory testing of the hardware and software elements, systems level testing, and flight testing. The most productive testing was performed on an iron bird aircraft, which used the actual electronic and hydraulic hardware and a simulation of the F-8 characteristics to provide the flight environment. The iron bird was used for sensor and system redundancy management testing, failure modes and effects testing, and stress testing in many cases with the pilot in the loop. The flight test program confirmed the quality of the validation process by achieving 50 flights without a known undetected failure and with no false alarms.
A multi-input, multi-output controls design with robust crossfeeds is presented for a rotorcraft in near-hovering flight using quantitative feedback theory (QFT). Decoupling criteria are developed for dynamic crossfeed design and implementation. Frequency dependent performance metrics focusing on piloted flight are developed and tested on 23 flight configurations. The metrics show that the resulting design is superior to alternative control system designs using conventional fixed-gain crossfeeds and to feedback-only designs which rely on high gains to suppress undesired off-axis responses. The use of dynamic, robust crossfeeds prior to the QFT design reduces the magnitude of required feedback gain and results in performance that meets current handling qualities specifications relative to the decoupling of off-axis responses. The combined effect of the QFT feedback design following the implementation of low-order, dynamic crossfeed compensator successfully decouples ten of twelve off-axis channels. For the other two channels it was not possible to find a single, low-order crossfeed that was effective.
Digital adaptive controllers have been proposed as a means for retaining uniform handling qualities over the flight envelope of a high-performance aircraft. Towards such an implementation, an explicit adaptive controller, which makes direct use of online parameter identification, has been developed and applied to the linearized lateral equations of motion for a typical fighter aircraft. The system is composed of an online weighted least-squares parameter identifier, a Kalman state filter, and a model following control law designed using optimal linear regulator theory. Simulation experiments with realistic measurement noise indicate that the proposed adaptive system has the potential for onboard implementation.
Through throttle manipulations, engine thrust can be used for emergency flight control for multi-engine aircraft. Previous study by NASA Dryden has shown the use of throttles for emergency flight control to be very difficult. In general, manual fly-by-throttle is extremely difficult - with landing almost impossible, but control augmentation makes runway landings feasible. Flight path control using throttles-only to achieve safe emergency landing for a large jet transport airplane, Boeing 720, was investigated using Quantitative Feedback Theory (QFT). Results were compared to an augmented control developed in a previous simulation study. The control augmentation corrected the unsatisfactory open-loop characteristics by increasing system bandwidth and damping, but increasing the control bandwidth substantially proved very difficult. The augmented pitch control is robust under no or moderate turbulence. The augmented roll control is sensitive to configuration changes.
Through throttle manipulations, engine thrust can be used for emergency flight control for multi-engine aircraft. Previous study by NASA Dryden has shown the use of throttles for emergency flight control to be very difficult. In general, manual fly-by-throttle is extremely difficult - with landing almost impossible, but control augmentation makes runway landings feasible. Flight path control using throttles-only to achieve safe emergency landing for a large jet transport airplane, Boeing 720, was investigated using Quantitative Feedback Theory (QFT). Results were compared to an augmented control developed in a previous simulation study. The control augmentation corrected the unsatisfactory open-loop characteristics by increasing system bandwidth and damping, but increasing the control bandwidth substantially proved very difficult. The augmented pitch control is robust under no or moderate turbulence. The augmented roll control is sensitive to configuration changes.
This paper presents the results of an investigation of the dynamic stability and controllability of a model which approximately represents the Lockheed XFV-1 airplane to a 1/8 scale. The investigation consisted of hovering flights in still air at a considerable height above the ground, hovering flights very close to the ground, vertical take-offs and landings, flights through the transition range from hovering to normal forward flight, and sideways translational flights. The model could be flown smoothly and easily in hovering flight despite the fact that the uncontrolled pitching and yawing motions were unstable oscillations. There was a noticeable reduction in the controllability of the model when hovered very close to the ground but take-offs could be made easily and landings on a g,ven spot could be made accurately in spite of this adverse ground effect. Flights through the transition range from hovering to normal forward flight could be performed fairly easily. The model seemed to have stability of angle of attack and angle of roll over most of the transition range. The yawing motion was divergent in the very high angle-of-attack range but could be controlled easily. At the lower angles of attack, the model seemed to become stable in yaw. In sideways flight there was an increasingly strong tendency to diverge in roll as the speed was increased and finally, at a speed of about 25 knots (full scale), the model rolled off despite efforts of the pilot to control it.
The Cassini spacecraft has been in orbit around Saturn since July 1, 2004. To remain on the planned trajectory which maximizes science data return, Cassini must perform orbit trim maneuvers using either its main engine or its reaction control system thrusters. Over 200 maneuvers have been executed on the spacecraft since arrival at Saturn. To improve performance and maintain spacecraft health, changes have been made in maneuver design command placement, in accelerometer scale factor, and in the pre-aim vector used to align the engine gimbal actuator prior to main engine burn ignition. These and other changes have improved maneuver performance execution errors significantly since 2004. A strategy has been developed to decide whether a main engine maneuver should be performed, or whether the maneuver can be executed using the reaction control system.
The NASA New Millennium Program Space Technology 7 (ST7) project will validate technology for precision spacecraft control. The Disturbance Reduction System (DRS) will be part of the European Space Agency's LISA Pathfinder project. The DRS will control the position of the spacecraft relative to a reference to an accuracy of one nanometer over time scales of several thousand seconds. To perform the control, the spacecraft will use a new colloid thruster technology. The thrusters will operate over the range of 5 to 30 micro-Newtons with precision of 0.1 micro- Newton. The thrust will be generated by using a high electric field to extract charged droplets of a conducting colloid fluid and accelerating them with a precisely adjustable voltage. The control reference will be provided by the European LISA Technology Package, which will include two nearly freefloating test masses. The test mass positions and orientations will be measured using a capacitance bridge. The test mass position and attitude will be adjustable using electrostatically applied forces and torques. The DRS will control the spacecraft position with respect to one test mass while minimizing disturbances on the second test mass. The dynamic control system will cover eighteen degrees of freedom: six for each of the test masses and six for the spacecraft. After launch in late 2009 to a low Earth orbit, the LISA Pathfinder spacecraft will be maneuvered to a halo orbit about the Earth-Sun L1 Lagrange point for operations.
The verification and validation process is a critical portion of the development of a flight system. Verification, the steps taken to assure the system meets the design specification, has become a reasonably understood and straightforward process. Validation is the method used to ensure that the system design meets the needs of the project. As systems become more integrated and more critical in their functions, the validation process becomes more complex and important. The tests, tools, and techniques which are being used for the validation of the high alpha research vehicle (HARV) turning vane control system (TVCS) are discussed and the problems and their solutions are documented. The emphasis of this paper is on the validation of integrated system.
The verification and validation process is a critical portion of the development of a flight system. Verification, the steps taken to assure the system meets the design specification, has become a reasonably understood and straightforward process. Validation is the method used to ensure that the system design meets the needs of the project. As systems become more integrated and more critical in their functions, the validation process becomes more complex and important. The tests, tools, and techniques which are being used for the validation of the high alpha research vehicle (HARV) turning valve control system (TVCS) are discussed, and their solutions are documented. The emphasis of this paper is on the validation of integrated systems.