Tae-Young Kim Richard P. Metzger,Jr. Chen-l Lim Armando A. Rodriguez ASEE Pacific Southwest Meeting `99 Saturday, March 20 th 1999 Harrah’s Hotel Las Vegas, Nevada Ack : White House, NSF, WAESO/CIMD, Boeing, Intel, Microsoft, CADSI, Knowledge Revolution, MathWorks, Lego, Xilinx, Honeywell, National Instruments, Integrated Systems, ASU CIEE. Description of Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Aircraft Environment

Motivation Mathematical Models Control Laws Environment Utility Summary & Future Directions Outline

MIMO Aircraft Control Design - High Performance Extensive Coupling Need Advanced Analysis, Design, and Visualization Tools Motivation

Aircraft Mathematical Models

Longitudinal Pitch Dynamics u (Inputs)  ele (Elevator)  rpm (Engine rpm) y (Outputs)  (Pitch) v (Speed) v (Speed) x (States)  (Alpha)  (Pitch)  (Pitch rate). x= Ax + Bu y= Cx.

P h u g o i d Mode Short Period Mode Transmission Zero = Longitudinal Pitch Dynamics Open Loop Poles and Transmission zero

Nearly Constant Velocity Long-Period Mode Nearly Constant Angle of Attack Longitudinal Pitch Dynamics Modal Analysis

Longitudinal Pitch Dynamics Open Loop Singular Values

Lateral (Roll - Yaw Rate) Dynamics u (Inputs)  ail (Aileron)  rud (Rudder) y (Outputs)  (Roll angle)  (Yaw Rate)  (Roll rate) x (States)  (Roll)  (Yaw rate)  (Side Slip Angle). x= Ax + Bu y= Cx...

Roll Subsidence Spiral Divergence Dutch Roll Transmission Zero = Lateral (Roll-Yaw rate) Dynamics Open Loop Poles and Transmission zero

Light Damping Rolling Responses Usually not Objectionalble Lateral (Roll-Yaw Rate) Dynamics Modal Analysis

Lateral (Roll-Yaw Rate) Dynamics Open Loop Singular Values

Control Laws

Control System Design r eu didi dodo K P n y Controller Plant Design K based on model P o s.t. nominal CLS exhibits: –Stability and Stability Robustness –Good Command Following –Good Disturbance Rejection –Good Noise Attenuation –Robust Performance

H  Controller K(s) W 1 (s) W 3 (s) W 2 (s) P(s) yr e eu u eu W 1 S(s) W 2 R(s) W 3 T(s) <  HH

H  Norm W 1 S(s) W 2 R(s) W 3 T(s) = max  HH W 1 S(j  ) W 2 R(j  ) W 3 T(j  ) 

W1 (s) = d i a g (s + 1.3s )(s ) (s + 1.3s )(s ) 1.3, 1.3 W2 (s) = d i a g , 0.01 W3 (s) = d i a g (s ) (s ) 2, 2  = = 1/ Longitudinal (Pitch) Dynamics : W 1, W 2, and W 3

Longitudinal (Pitch) Dynamics : Complementary Sensitivity : T = [I + PK] -1 PK

Longitudinal (Pitch) Dynamics : Sensitivity : S = I - T

[  v] = [ 1 0 ][  v] = [ 0 1 ] Longitudinal (Pitch) Dynamics : Reference command Following

W1 (s) = d i a g (s + 1)(s ) (s + 1)(s ) 1, 1 W2 (s) = d i a g , 0.01 W3 (s) = d i a g (s + 04) (s + 0.4) (s ), (s )  = = 1/ Lateral (Roll- Yaw rate) Dynamics : W 1, W 2, and W 3

Lateral (Roll - Yaw Rate) Dynamics : Complementary Sensitivity : T = [I + PK] -1 PK

Lateral (Roll - Yaw Rate) Dynamics : Sensitivity : S = I -T

[   ] = [ 1 0 ]. [   ] = [ 0 1 ]. Lateral (Roll - Yaw Rate) Dynamics : Reference command Following

Environment Structure (PUI) (SIM) (GAM) (HIM) (COM) Program User Interface Simulation Module Graphical Animation Module Communications Module Help-Instruct Module

SIMULINK Driven 3D Animation Environment : Evaluation of H  Design Utility of Environment

Interactive with MATLAB Aircraft 3D Animation SIMULINK Engine Driven 3D Animation Aircraft Environment

Reference Commands Interactive with SIMULINK Engine and 3D Animation SIMULINK Engine Driven 3D Animation Aircraft Environment

Versatile system-specific interactive MoSART environments Windows / C++ / Direct-X / MATLAB User friendly: accessible & intuitive User can alter model structures & parameters Highly extensible: ability to incorporate new simulation/animation models Summary

More visual indicators Advanced SIM and GAM Expanded HIM: web support, multimedia Enhanced integration with MATLAB Integrated design & analysis environment Online presentation available at: … development of MoSART Facility at ASU Visit MoSART facility web site: Future Directions