1. 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 http://www.eas.asu.edu/~aar/research/mosart 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

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

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

4. Aircraft Mathematical Models

5. 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.

6. P h u g o i d Mode Short Period Mode Transmission Zero = - 0.5823 Longitudinal Pitch Dynamics Open Loop Poles and Transmission zero

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

8. Longitudinal Pitch Dynamics Open Loop Singular Values

9. 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...

10. Roll Subsidence Spiral Divergence Dutch Roll Transmission Zero = - 0.0841 Lateral (Roll-Yaw rate) Dynamics Open Loop Poles and Transmission zero

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

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

13. Control Laws

14. 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

15. 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

16. 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  ) 

17. W1 (s) = d i a g (s + 1.3s + 0.22)(s + 0.0001) (s + 1.3s + 0.22)(s + 0.0001) 1.3, 1.3 W2 (s) = d i a g 0.6337 0.6337 0.01, 0.01 W3 (s) = d i a g 0.6337(s + 0.0001) 0.6337(s + 0.0001) 2, 2  = 0.6337 = 1/1.5781 Longitudinal (Pitch) Dynamics : W 1, W 2, and W 3

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

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

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

21. W1 (s) = d i a g (s + 1)(s + 0.0001) (s + 1)(s + 0.0001) 1, 1 W2 (s) = d i a g 0.7574 0.7574 0.01, 0.01 W3 (s) = d i a g 0.7574(s + 04) 0.7574(s + 0.4) (s + 0.0001), (s + 0.0001)  = 0.7574 = 1/1.3203 Lateral (Roll- Yaw rate) Dynamics : W 1, W 2, and W 3

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

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

24. [   ] = [ 1 0 ]. [   ] = [ 0 1 ]. Lateral (Roll - Yaw Rate) Dynamics : Reference command Following

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

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

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

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

29. 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

30. More visual indicators Advanced SIM and GAM Expanded HIM: web support, multimedia Enhanced integration with MATLAB Integrated design & analysis environment http://www.eas.asu.edu/~aar/research/mosart/Presentations Online presentation available at: … development of MoSART Facility at ASU Visit MoSART facility web site: Future Directions