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Guidelines for developing a multivariable centralized automatic flight control system (AFCS) for a twin lift helicopter system (TLHS) are presented. Singular value ideas are used to formulate performance and stability robustness specifications. A linear Quadratic Gaussian with Loop Transfer Recovery (LQG/LTR) design is obtained and evaluated.
A cost-effective approach to flight testing advanced control concepts with remotely piloted vehicles is described. The approach utilizes a ground based digital computer coupled to the remotely piloted vehicle's motion sensors and control surface actuators through telemetry links to provide high bandwidth feedback control. The system was applied to the control of an unmanned 3/8-scale model of the F-15 airplane. The model was remotely augmented; that is, the F-15 mechanical and control augmentation flight control systems were simulated by the ground-based computer, rather than being in the vehicle itself. The results of flight tests of the model at high angles of attack are discussed.
The influence of propulsion system variations and elastic fuselage behavior on the flight control system of an airbreathing hypersonic vehicle is investigated. Thrust vector magnitude and direction changes due to angle of attack variations affect the pitching moment. Low structural vibration frequencies may occur close to the rigid body modes influencing the angle of attack and lead to possible cross coupling. These effects are modeled as uncertainties in the context of a robust control study of a hypersonic vehicle model accelerating through Mach 8 using H-infinity and mu synthesis techniques. Various levels of uncertainty are introduced into the system. Both individual and simultaneous appearance of uncertainty are considered. The results indicate that the chosen design technique is suitable for this kind of problem provided that a fairly good knowledge of the effects mentioned above is available. The order of the designed controller is reduced but robust performance is lost which shows the need for fixed order design techniques.
A digital flight control system for the tilt rotor research aircraft provides sophisticated navigation, guidance, control, display and data acquisition capabilities for performing terminal area navigation, guidance and control research. All functions of the XV-15 V/STOLAND system were demonstrated on the NASA-ARC S-19 simulation facility under a comprehensive dynamic acceptance test. The most noteworthy accomplishments of the system are: (1) automatic configuration control of a tilt-rotor aircraft over the total operating range; (2) total hands-off landing to touchdown on various selectable straight-in glide slopes and on a flight path that includes a two-revolution helix; (3) automatic guidance along a programmed three-dimensional reference flight path; (4) navigation data for the automatic guidance computed on board, based on VOR/DME, TACAN, or MLS navid data; and (5) integration of a large set of functions in a single computer, utilizing 16k words of storage for programs and data.
Superaugmented aircraft are an important subclass of actively controlled, highly augmented aircraft. The aircraft without augmentation is unstable; the control system not only redresses the stability and control imbalance, but also provides effective vehicle dynamics that differ in kind from those associated with conventional aircraft. In this paper, the longitudinal properties of highly unstable aircraft and typical superaugmented control systems used to remedy their dynamic deficiencies are explored generically. The topics considered include: (1) Basic flight control system architectures suitable to reduce or completely alleviate the unstable aircraft characteristics. (2) The primary dynamic characteristics and regulatory properties of typical superaugmented aircraft control systems, including governing factors in the linear system, dominant mode characteristics, and fundamental stability margin properties. The total available gain range factor is presented as a basic measure that relates degree of instability, control system limitations, and key control system adjustments. (3) Some flying qualities features for superaugmented aircraft with rate command/attitude hold, extended bandwidth, and attitude command configurations.
A force-feel system is implemented by mechanically coupling a servo-actuator to and in parallel with a flight control system. The servo-actuator consists of an electric motor, a gearing device, and a clutch. A commanded cockpit-flight-controller position is achieved by pilot actuation of a trim-switch. The position of the cockpit-flight-controller is compared with the commanded position to form a first error which is processed by a shaping function to correlate the first error with a commanded force at the cockpit-flight-controller. The commanded force on the cockpit-flight-controller provides centering forces and improved control feel for the pilot. In an embodiment, the force-feel system is used as the basic element of stability augmentation system (SAS). The SAS provides a stabilization signal that is compared with the commanded position to form a second error signal. The first error is summed with the second error for processing by the shaping function.
Complex system description is problematic when considering operator task activities interacting with system dynamics. Engineering languages have matured sufficiently to allow machine system description at various levels of depth and breadth but without operator synergy. Concurrently, Task Analysis methods have evolved along diverse lines enabling a description of the operator in the system from various paradigms but not describing the system. A void exists when attempting to view the system and the operator in the same plane. We propose a methodology employing descriptive languages from different domains viewed in a single dimension. Finite Automata (FA) languages describe the machine system in the proposed approach. Operator task specifications, a form of task analysis output, examine the operator activities within the system. Operator task specifications were then selected for discrete task activities and overlaid on the system description to examine operator inputs and subsequently view system responses. Unexpected (surprise) and undesirable system behavior was expected to emerge from this analysis. In this paper we shall first describe the methodology and show how the two perspectives, machine model and operator task specifications are integrated. Following we describe the process of doing such analysis using an example from cockpit automation. The methodology was employed in the analysis of a new function that was added to an existing automatic flight control system. We begin by defining a flight scenario involving all aspects of pilot interaction with the new function. Then, we proceed to develop a basic model of the machine behavior, in the context of pilot actions. Finally we superimpose the operator task specification on the machine model and perform the analysis. The proposed methodology may have broad appeal to system designers and human factors specialists. A common language for engineers of diverse domains is a strong point of this approach. Systems engineers may not fully understand operational considerations and human limitations, and human factors specialists may not be exposed to the full extent of system behavior. We hope the proposed methodology is adopted by both disciplines and in the process each assimilates a common language to address potential shortcomings of either approach separately.
The approach used in establishing the predicted aerodynamic uncertainties and the process used in applying these uncertainties during the design of the Orbiter flight control system and the entry trajectories are presented. The flight test program that was designed to verify the stability and control derivatives with a minimum of test flights is presented and a comparison of preflight predictions with preliminary flight test results is made. It is concluded that the approach used for the Orbiter is applicable to future programs where testing is limited due to time constraints or funding.
At the heart of any intelligent flight control system, there is a knowledge based expert system. The efficiency of these knowledge bases is one of the major factors in the success of aviation and space control systems. In the future, the speed and the capabilities of the expert system and their underlying data base(s) will be the limiting factors in the ability to build more accurate real time space controllers. A methodology is proposed for design and construction of such expert systems. It is noted that existing expert systems are inefficient (slow) in dealing with nontrivial real world situations that involve a vast collection of data. However, current data bases, which are fast in handling large amounts of data, cannot carry out intelligent tasks normally expected from an expert system. The system presented provides the power of deduction (reasoning) along with the efficient mechanisms for management of large data bases. In the system, both straight forward evaluation procedures and sophisticated inference mechanisms coexist. The design methodology is based on mathematics and logic, which ensures the correctness of the final product.
A systems and operational summary of the Titan 3E/Centaur D-1T program is presented which describes vehicle assembly facilities, launch facilities, and management responsibilities, and also provides detailed information on the following separate systems: (1) mechanical systems, including structural components, insulation, propulsion units, reaction control, thrust vector control, hydraulic systems, and pneumatic equipment; (2) astrionics systems, such as instrumentation and telemetry, navigation and guidance, C-Band tracking system, and range safety command system; (3) digital computer unit software; (4) flight control systems; (5) electrical/electronic systems; and (6) ground support equipment, including checkout equipment.
The Space Shuttle orbit flight control system, which operates during all exo-atmospheric flight phases, has successfully met operational requirements. Many design integration and operational issues that required resolution during development and testing provide an experience base that will benefit the development of future space systems, particularly the Space Station. To this end, the applicable Shuttle and Space Station hardware/software is reviewed with some perspective provided on how current design groundrules were derived and how issues that affected the Shuttle orbit control system design are a pathway for the Space Station. Some of the most significant lessons learned from the Shuttle are summarized, with a discussion of the effect of performance and design of hardware, including the data processing system on software structures and usage procedures. Crew interface issues and important results from man-in-the-loop tests are summarized. Problems resulting from trying to meet difficult orbital operational objectives, including some sophisticated payload operations are characterized. Several proposed Shuttle flight control design improvements, developed in response to some of the lessons learned so far, are identified. Potential application of the Shuttle design lessons and new control technologies to the Space Station are discussed.
A new control design methodology is developed: Stochastic Optimal Feedforward and Feedback Technology (SOFFT). Traditional design techniques optimize a single cost function (which expresses the design objectives) to obtain both the feedforward and feedback control laws. This approach places conflicting demands on the control law such as fast tracking versus noise atttenuation/disturbance rejection. In the SOFFT approach, two cost functions are defined. The feedforward control law is designed to optimize one cost function, the feedback optimizes the other. By separating the design objectives and decoupling the feedforward and feedback design processes, both objectives can be achieved fully. A new measure of command tracking performance, Z-plots, is also developed. By analyzing these plots at off-nominal conditions, the sensitivity or robustness of the system in tracking commands can be predicted. Z-plots provide an important tool for designing robust control systems. The Variable-Gain SOFFT methodology was used to design a flight control system for the F/A-18 aircraft. It is shown that SOFFT can be used to expand the operating regime and provide greater performance (flying/handling qualities) throughout the extended flight regime. This work was performed under the NASA SBIR program. ICS plans to market the software developed as a new module in its commercial CACSD software package: ACET.
A flight-test program was conducted to determine the effect of advanced flight control systems and displays on the handling qualities of a light twin-engined airplane. A flight-director display and an attitude-command control system, used separately and in combination, transformed a vehicle with poor handling qualities during ILS approaches in turbulent air into a vehicle with good handling qualities. The attitude-command control system also improved the ride qualities of the airplane. A rate-command control system made only small improvements to the airplane's ILS handling qualities in turbulence. Both the rate- and the attitude-command control systems reduced stall warning in the test airplane, increasing the likelihood of inadvertent stalls. The final approach to the point of flare was improved by both the rate- and the attitude-command control systems. However, the small control wheel deflections necessary to flare were unnatural and tended to cause overcontrolling during flare. Airplane handling qualities are summarized for each control-system and display configuration.
Several redundant actuation system configurations were designed and demonstrated to satisfy the stringent operational requirements of advanced flight control systems. However, this has been accomplished largely through brute force hardware redundancy, resulting in significantly increased computational requirements on the flight control computers which perform the failure analysis and reconfiguration management. Modern technology now provides powerful, low-cost microprocessors which are effective in performing failure isolation and configuration management at the local actuator level. One such concept, called an Intelligent Redundant Actuation System (IRAS), significantly reduces the flight control computer requirements and performs the local tasks more comprehensively than previously feasible. The requirements and preliminary design of an experimental laboratory system capable of demonstrating the concept and sufficiently flexible to explore a variety of configurations are discussed.
The current status of research on the application of variable structure system (VSS) theory to design aircraft flight control systems is summarized. Two aircraft types are currently being investigated: the Augmentor Wing Jet STOL Research Aircraft (AWJSRA), and AV-8A Harrier. The AWJSRA design considers automatic control of longitudinal dynamics during the landing phase. The main task for the AWJSRA is to design an automatic landing system that captures and tracks a localizer beam. The control task for the AV-8A is to track velocity commands in a hovering flight configuration. Much effort was devoted to developing computer programs that are needed to carry out VSS design in a multivariable frame work, and in becoming familiar with the dynamics and control problems associated with the aircraft types under investigation. Numerous VSS design schemes were explored, particularly for the AWJSRA. The approaches that appear best suited for these aircraft types are presented. Examples are given of the numerical results currently being generated.
Systems to provide improved tactile feedback to aircraft pilots are being developed to help the pilots maintain harmony between their control actions and the positions of aircraft control surfaces, thereby helping to prevent loss of control. A system of this type, denoted a loss-of-control-inhibitor system (LOCIS) can be implemented as a relatively simple addition to almost any pre-existing flight-control system. The LOCIS concept offers at least a partial solution to the problem of (1) keeping a pilot aware of the state of the control system and the aircraft and (2) maintaining sufficient control under conditions that, as described below, have been known to lead to loss of control. Current commercial aircraft exhibit uneven responses of primary flight-control surfaces to aggressive pilot control commands, leading to deterioration of pilots ability to control their aircraft. In severe cases, this phenomenon can result in loss of control and consequent loss of aircraft. For an older aircraft equipped with a purely mechanical control system, the loss of harmony between a pilot s command action and the control- surface response can be attributed to compliance in the control system (caused, for example, by stretching of control cables, flexing of push rods, or servo-valve distortion). In a newer aircraft equipped with a fly-by-wire control system, the major contributions to loss of harmony between the pilot and the control surfaces are delays attributable to computer cycle time, control shaping, filtering, aliasing, servo-valve distortion, and actuator rate limiting. In addition, a fly-by-wire control system provides no tactile feedback that would enable the pilot to sense such features of the control state as surface flutter, surface jam, position limiting, actuator rate limiting, and control limiting imposed by the aircraft operational envelope. Hence, for example, when a pilot is involved in aggressive closed-loop maneuvering, as when encountering a wake-vortex upset on final landing approach, the control-surface delay can lead to loss of control. Aggressive piloting can be triggered and exacerbated by control-system anomalies, which the pilot cannot diagnose because of the lack of symptoms caused by the absence of feedback through the controls. The purpose served by a LOCIS is to counteract these adverse effects by providing real-time feedback that notifies the pilot that the aircraft is tending to lag the pilot s commands. A LOCIS (see figure) includes cockpit control input-position sensors, control-surface output-position sensors, variable dampers (for example, shock absorbers containing magneto-rheological fluids such that the damping forces can be varied within times of the order of milliseconds by varying applied magnetic fields) attached to the cockpit control levers, electromagnet coils to apply the magnetic fields, and feedback control circuits to drive the electromagnet coils. The feedback control gains are chosen so that the current applied to each electromagnet coil results in a damping force that increases in a suitable nonlinear manner (e.g., exponentially) with the difference between the actual and commanded positions of the affected control surface. The increasing damping force both alerts the pilot to the onset of a potentially dangerous situation and resists the pilot s effort to command a control surface to change position at an excessive rate
Guaranteeing robustness has long been an important design objective of control system analysis. Stochastic robustness is a simple numerical procedure that can be used to measure and gain insight into robustness properties associated with linear control systems. In the realm of aircraft control systems, problems such as the effects of flight condition perturbations and model-order uncertainties on robustness are easily and effectively analyzed using stochastic robustness. The concept of stochastic robustness is reviewed and examples are presented demonstrating its use in flight control system analysis.
Flight operations for manned spacecraft covering mission planning, flight control systems and operations and recovery phase