1. ING. PAVEL HOSPODÁŘ, hospop1@fel.cvut.cz Czech technical university in Prague, Faculty of electrical engineering, Department of control engineering Control of Lateral motion Flight management system 2009

2. M X =L – roll moment [N.m] M Z =N – yaw moment [N.m] Y – side force [N] β – sideslip angle [rad] Φ – bank angle (roll) [rad] Ψ – yaw angle [rad] p – roll rate [rad.s -1 ] r – yaw rate [rad.s -1 ] Elementary variables Model of lateral motion Lateral control Flight management system 2/15

3. All variables in state-space model are in additional shape! System inputs Aileron deviation Rudder deviation System outputs Side slip angle Bank angle (roll) Yaw angle (heading) Roll rate Yaw rate Flight management system 3/15 Elementary variables Model of lateral motion Lateral control

4. Eigenvalue Damping Freq. (rad/s) 0.00e+000 -1.00e+000 0.00e+000 9.33e-002 -1.00e+000 9.33e-002 -2.52e-001 + 1.25e+000i 1.98e-001 1.27e+000 -2.52e-001 - 1.25e+000i 1.98e-001 1.27e+000 -5.49e+000 1.00e+000 5.49e+000 Elementary variables Model of lateral motion Lateral control Flight management system 4/15

5. Spiral mode - Unstable !!! - very slow motion Elementary variables Model of lateral motion Lateral control Flight management system 5/15

6. Dutch roll mode - low damping -> controller design Elementary variables Model of lateral motion Lateral control Flight management system 6/15

7. Yaw damper - high frequence damping Elementary variables Model of lateral motion Lateral control Flight management system 7/15

8. Elementary variables Model of lateral motion Lateral control Yaw damper - high frequence damping Flight management system 8/15

9. Coordinated turning - sideslip angle or side acceleration control Elementary variables Model of lateral motion Lateral control Flight management system 9/15

10. Spiral-mode damper - Unstable!!! - increase yawing time -> decrease roll rate Elementary variables Model of lateral motion Lateral control Flight management system 10/15

11. Elementary variables Model of lateral motion Lateral control Spiral-mode damper - Unstable!!! - increase yawing time -> decrease roll rate Flight management system 11/15

12. Bank angle autopilot - bank angle control Elementary variables Model of lateral motion Lateral control Flight management system 12/15

13. Bank angle autopilot - bank angle control Elementary variables Model of lateral motion Lateral control Flight management system 13/15

14. Elementary variables Model of lateral motion Lateral control Heading select - yaw angle control - bank angle saturation Flight management system 14/15

15. Elementary variables Model of lateral motion Lateral control Heading select - yaw angle control - bank angle saturation Flight management system 15/15