Lecture 29

Applications Linear Control Design

Techniques in Aircraft Control I

Dr. Radhakant Padhi

Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
Topics
z Brief Review of Aircraft Flight Dynamics

z An Overview of Automatic Flight Control

Systems

z Automatic Flight Control Systems:

Classical (Frequency Domain) Designs
ADVANCED CONTROL SYSTEM DESIGN 2
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Brief Review of Aircraft Flight Dynamics

Dr. Radhakant Padhi

Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
Geometry of Conventional Aircrafts

ADVANCED CONTROL SYSTEM DESIGN 4

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Basic Force Balance
z Weight

z Lift

z Drag

z Thrust

ADVANCED CONTROL SYSTEM DESIGN 5

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Basic Moment Balance

z Rolling
Y
z Pitching

z Yawing

X
Z
ADVANCED CONTROL SYSTEM DESIGN 6
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Aileron Roll

ADVANCED CONTROL SYSTEM DESIGN 7

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Elevator Pitch

ADVANCED CONTROL SYSTEM DESIGN 8

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Rudder Yaw

ADVANCED CONTROL SYSTEM DESIGN 9

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Airplane Dynamics:
Six Degree-of-Freedom Model
Ref: Roskam J., Airplane Flight Dynamics and Automatic Controls, 1995

1
U = VR WQ g sin + ( X + X T )
m
1
V = WP UR + g sin cos + (Y + YT )
m
1
W = UQ VP + g cos cos + ( Z + ZT )
m
P = c1QR + c2 PQ+c3 ( L + LT ) +c 4 ( N + NT )
Q = c5 PR c6 ( P 2 R 2 ) + c7 ( M + M T )
R = c8 PQ c2QR + c4 ( L + LT ) + c9 ( N + NT )
 = P + Q sin tan + R cos tan

 = Q cos R sin
xI cos sin 0 cos 0 sin 1 0 0 U
y = sin cos 0 0 1 0 0 cos sin V
 = ( Q sin + R cos ) sec
I
zI 0 0 1 sin 0 cos 0 sin cos W
h = zI = U sin V cos sin W cos cos

ADVANCED CONTROL SYSTEM DESIGN 10

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Representation of Longitudinal
Dynamics in Small Perturbation
State space form:
X = AX + BU c

XU XW 0 g U
W
ZU ZW U0 0 X =
A= Q
MU + M W ZU M W + M W ZW M Q + M W U 0 0

0 0 1 0

X E X T Uc = E
T
Z E Z T
B=
M + M W Z E M T + M W ZT 1 X 1 X
E XU = , XW = etc.
0 0 m U m W

ADVANCED CONTROL SYSTEM DESIGN 11

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Short Period Mode
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

Heavily damped
Short time period
Constant velocity

ADVANCED CONTROL SYSTEM DESIGN 12

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Short Period Dynamics
State Space Equation:  a11 1 b1
q = a + E
21 a22 q b2

Transfer Function Equations:

( s ) A s + B
= 2
E ( s ) As + Bs + C

q ( s ) Aq s + Bq
= 2
E ( s ) As + Bs + C

ADVANCED CONTROL SYSTEM DESIGN 13

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Long Period (Phugoid) Dynamics
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

Lightly damped
Changes in pitch attitude, altitude, velocity
Constant angle of attack

ADVANCED CONTROL SYSTEM DESIGN 14

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Long Period (Phugoid) Dynamics
State Space Equation:
u a11 g u b11 b12 E
 = a +
0 b21 b22 T
21
Transfer Function Equations:
u ( s ) Au s + Bu
Assumption: T = 0 = 2
E ( s ) As + Bs + C

( s ) A s + B
= 2
E ( s ) As + Bs + C

ADVANCED CONTROL SYSTEM DESIGN 15

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Representation of Lateral Dynamics
in Small Perturbation
State space form: X = AX + BU c
YV YP (U 0 YR ) g cos 0
V
LV * + I XZ NV I
LP + XZ N P
I
LR + XZ N R 0 P
IX IX IX X =
A= R
NV + I XZ LV N P +
I XZ
LP N R +
I XZ
LR 0
IZ IZ IZ

0 1 0 1
0 Y R

L * + I XZ N
L R +
I XZ
N R
A A
A
B=
IX IX
Uc =
N + I XZ L R
N R + XZ L R
I
A IZ A

IZ

0 0

ADVANCED CONTROL SYSTEM DESIGN 16

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Lateral Dynamic Instabilities
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

Directional divergence
Do not possess directional stability
Tend towards ever-increasing angle
of sideslip
Largely controlled by rudder

Spiral divergence
Spiral divergence tends to gradual
spiraling motion & leads to high
speed spiral dive
Nonoscillatory divergent motion
Largely controlled by ailerons
ADVANCED CONTROL SYSTEM DESIGN 17
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Lateral Dynamic Instabilities
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

Dutch roll oscillation

Coupled directional-spiral
oscillation

Combination of rolling and

yawing oscillation of same
frequency but out of phase
each other

Controlled by using both

ailerons and rudders

ADVANCED CONTROL SYSTEM DESIGN 18

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Dutch Roll Dynamics
State Space Equation:
 a11 a12 b11 b12 A
= +
r a21 a22 r b21 b22 R

Transfer Function Equations:

( s ) A s + B ( s ) A s + B
= 2 = 2
A ( s ) As + Bs + C R ( s ) As + Bs + C
r ( s ) Ar s + Br r ( s ) A r s + B r
= 2 = 2
A ( s ) As + Bs + C R ( s ) As + Bs + C

ADVANCED CONTROL SYSTEM DESIGN 19

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Automatic Flight Control Systems:
An Overview

Dr. Radhakant Padhi

Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
ADVANCEDCONTROLSYSTEMDESIGN 21
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Sensors
z Altimeter: Height above sea level
z Air Data System: Airspeed, Angle of Attack,
Mach No., Air Temperature etc.
z Magnetometer: Heading
z Inertial Navigation System (INS)
Accelerometers: Translational motion of the aircraft
in the three axes
Gyroscopes: Rotational motion of the aircraft in the
three axes
z GPS: Accurate position, ground speed
The transfer function for most sensors can
be approximated by a gain k
ADVANCED CONTROL SYSTEM DESIGN 22
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Actuators
z Electrical actuators:
Its a second order system in general
It can be approximated to a first order system
with small angle displacements

z Hydraulic / Pneumatic actuators

First order system
z Combination of the above

ADVANCED CONTROL SYSTEM DESIGN 23

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Applications of Automatic Flight
Control Systems
z Cruise Control Systems
Attitude control (to maintain pitch, roll and heading)
Altitude hold (to maintain a desired altitude)
Speed control (to maintain constant speed or Mach no.)
z Stability Augmentation Systems
Stability enhancement
Handling quality enhancement
z Landing Aids
Alignment control (to align wrt. runway centre line)
Glideslope control
Flare control
ADVANCED CONTROL SYSTEM DESIGN 24
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Techniques for Autopilot Design
z Frequency domain techniques:
Root locus
Bode plot
Nyquist plot
PID design etc.
z Time domain techniques:
Pole placement design
Lyapunov design
Optimal control design etc.
ADVANCED CONTROL SYSTEM DESIGN 25
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Automatic Flight Control Systems:
Frequency Domain Designs

Dr. Radhakant Padhi

Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
 Velocity Hold Control System
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

z The forward speed of an airplane can be

controlled by changing the thrust produced by
propulsion system.

z The function of the speed control system is to

maintain the some desired flight speed.

ADVANCED CONTROL SYSTEM DESIGN 27

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Attitude Control System
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

z Sense the angular

position

z Compare the angular

position with the desired
angular position

z Generate commands
proportional to the error
signal

ADVANCED CONTROL SYSTEM DESIGN 28

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Roll Attitude Autopilot
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

Components: Reference:
R. C. Nelson: Flight Stability
Model for roll dynamics and Automatic Control,
(transfer function) McGraw-Hill, 1989.
Attitude gyro
Comparator
Aileron actuator
ADVANCED CONTROL SYSTEM DESIGN 29
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Roll Attitude Autopilot
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

Problem:

Design a roll attitude control system to maintain a wings level

attitude for a vehicle having the following characteristics.

L p = 0.5 rad / s L a = 2.0 / s 2

The system performance is to have damping ratio = 0.707 and

an undamped natural frequency n = 10 rad/s.

Assume the aileron actuator and the sensor (gyro) can be

represented by the gains ka and ks

ADVANCED CONTROL SYSTEM DESIGN 30

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Roll Attitude Autopilot
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

The system transfer function

( s ) L a
=
a ( s ) s ( s Lp )

Forward path transfer function

( s ) ( s ) L a
G(s) = a = ka
e( s ) a ( s ) s( s Lp )
H ( s ) = k s = 1 (unity feedback assumption)

The loop transfer function

k
G(s) H (s) = , where k = ka L a
s ( s + 0.5)

ADVANCED CONTROL SYSTEM DESIGN 31

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Roll Attitude Autopilot
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

The desired damping needed is = 0.707

We know = cos . Hence,
draw a line of 450 from the origin.
Any root intersecting this line
will have = 0.707.

Gain is determined from:

k
= 1,
s s + 0.5
This leads to k = 0.0139. However,
n = 0.35 rad / s (much lower than desired!)
ADVANCED CONTROL SYSTEM DESIGN 32
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Roll Attitude Autopilot
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

desired
achieved

Moving pole P1 to P2 is impractical, unless there is an increase in wingspan of the aircraft..!

Hence, the cure is to have a stability augmentation system.

ADVANCED CONTROL SYSTEM DESIGN 33

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Roll Attitude Autopilot
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

z Compensator is added in form of rate feedback loop to meet

desired damping and natural frequency.
z The inner loop transfer function can be expressed as follows:
p ( s ) L a
=
a ( s ) ( s Lp )
z Transfer function of inner loop
k IL
G ( s ) IL = , H ( s ) IL = 1 (krg ), k IL = kas L a
s + 0.5
G ( s ) IL
M(s) IL =
1 + G ( s ) IL H ( s ) IL
k IL
=
s + 0.5 + k IL

ADVANCED CONTROL SYSTEM DESIGN 34

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Roll Attitude Autopilot
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

Inner loop gain is selected to move

the augmented root farther on the
negative real axis.

If the inner loop is located at

s = 14.14, then the root locus
will shift to the left and desired
and n can be achieved.

ADVANCED CONTROL SYSTEM DESIGN 35

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Stability Augmentation System (SAS)
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

z Inherent stability of an airplane depends on the

aerodynamic stability derivatives.
z Magnitude of derivatives affects both damping and
frequency of the longitudinal and lateral motion of an
airplane.
z Derivatives are function of the flying characteristics
which change during the entire flight envelope.
z Control systems which provide artificial stability to
an airplane having undesirable flying characteristics
are commonly called as stability augmentation
systems.
ADVANCED CONTROL SYSTEM DESIGN 36
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example: SAS
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

Consider an aircraft with poor short period dynamic characteristics.

Assume one degree of freedom (only pitching motion about CG) to
demonstrate the SAS.

Short period  ( M q + M ) + M = M
dynamics:

Substituting the numerical values

 0.071 + 5.49 = 6.71 e

This leads to sp = 0.015 nsp = 2.34 rad / s

It is seen that the airplane has poor damping (flying quality).

ADVANCED CONTROL SYSTEM DESIGN 37

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example: SAS
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

One way to improve damping is to provide rate feedback.

Artificial damping is provided by producing an elevator deflection
in proportion to pitch rate and then adding it to the pilot's input; i.e.

e = ep + kN
N Artificial
Pilot command
input

Rate gyro measures the  and creates an electrical signal

to provide k in addtion to . e

With this, the modified dynamics becomes:

 ( 0.071 + 6.71k ) + 5.49 = 6.71 e

2n = 0.071 + 6.71k , n2 = 5.49

Hence, by varying k , the desired damping is achieved.
ADVANCED CONTROL SYSTEM DESIGN 38
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Landing System
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

Key Components:
Alignment control (to align wrt. runway
centre line)

Glideslope control
Flare control

ADVANCED CONTROL SYSTEM DESIGN 39

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Alignment Control Through
Electronic Aid and Pilot Input
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

ADVANCED CONTROL SYSTEM DESIGN 40

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Glide Slope: Pitch Control
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

ADVANCED CONTROL SYSTEM DESIGN 41

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Glide Slope: Speed Control
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

ADVANCED CONTROL SYSTEM DESIGN 42

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Flare: Sink Rate Control
Reference: R. C. Nelson, Flight Stability and Automatic Control, McGraw-Hill, 1989.

ADVANCED CONTROL SYSTEM DESIGN 43

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
ADVANCED CONTROL SYSTEM DESIGN 44
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore