Feedback methods for inverse simulation of dynamic models for engineering systems applications

Inverse simulation is a form of inverse modelling in which computer simulation methods are used to find the time histories of input variables that, for a given model, match a set of required output responses. Conventional inverse simulation methods for dynamic models are computationally intensive and can present difficulties for high-speed applications. This paper includes a review of established methods of inverse simulation,giving some emphasis to iterative techniques that were first developed for aeronautical applications. It goes on to discuss the application of a different approach which is based on feedback principles. This feedback method is suitable for a wide range of linear and nonlinear dynamic models and involves two distinct stages. The first stage involves design of a feedback loop around the given simulation model and, in the second stage, that closed-loop system is used for inversion of the model. Issues of robustness within closed-loop systems used in inverse simulation are not significant as there are no plant uncertainties or external disturbances. Thus the process is simpler than that required for the development of a control system of equivalent complexity. Engineering applications of this feedback approach to inverse simulation are described through case studies that put particular emphasis on nonlinear and multi-input multi-output models

Maneuverability assessment of a compound helicopter configuration

The compound helicopter design could potentially satisfy the new emerging requirements placed on the next generation of rotorcraft. The main benefit of the compound helicopter is its ability to reach speeds that significantly surpass those of the conventional helicopter. However, it is possible that the compound helicopter design can provide additional benefits in terms of maneuverability. The paper features a conventional helicopter and a compound helicopter. The conventional helicopter features a standard helicopter design with a main rotor providing the propulsive and lifting forces, while a tail rotor, mounted at the rear of the aircraft, provides the yaw control. The compound helicopter configuration features both lift and thrust compounding. The wing offloads the main rotor at high speeds, and two propellers provide additional axial thrust as well as yaw control. This study investigates the maneuverability of these two helicopter configurations using inverse simulation. The results predict that a compound helicopter configuration is capable of attaining greater load factors than its conventional counterpart, when flying a pullup–pushover maneuver. In terms of the accel–decel maneuver, the compound helicopter configuration is capable of completing the maneuver in a shorter time than the conventional helicopter, but at the expense of greater installed engine power. The addition of thrust compounding to the compound helicopter design reduces the pitch attitude required throughout the acceleration stage of the maneuver

Robust nonlinear control of vectored thrust aircraft

An interdisciplinary program in robust control for nonlinear systems with applications to a variety of engineering problems is outlined. Major emphasis will be placed on flight control, with both experimental and analytical studies. This program builds on recent new results in control theory for stability, stabilization, robust stability, robust performance, synthesis, and model reduction in a unified framework using Linear Fractional Transformations (LFT's), Linear Matrix Inequalities (LMI's), and the structured singular value micron. Most of these new advances have been accomplished by the Caltech controls group independently or in collaboration with researchers in other institutions. These recent results offer a new and remarkably unified framework for all aspects of robust control, but what is particularly important for this program is that they also have important implications for system identification and control of nonlinear systems. This combines well with Caltech's expertise in nonlinear control theory, both in geometric methods and methods for systems with constraints and saturations

Accurate Tracking of Aggressive Quadrotor Trajectories using Incremental Nonlinear Dynamic Inversion and Differential Flatness

Autonomous unmanned aerial vehicles (UAVs) that can execute aggressive (i.e., high-speed and high-acceleration) maneuvers have attracted significant attention in the past few years. This paper focuses on accurate tracking of aggressive quadcopter trajectories. We propose a novel control law for tracking of position and yaw angle and their derivatives of up to fourth order, specifically, velocity, acceleration, jerk, and snap along with yaw rate and yaw acceleration. Jerk and snap are tracked using feedforward inputs for angular rate and angular acceleration based on the differential flatness of the quadcopter dynamics. Snap tracking requires direct control of body torque, which we achieve using closed-loop motor speed control based on measurements from optical encoders attached to the motors. The controller utilizes incremental nonlinear dynamic inversion (INDI) for robust tracking of linear and angular accelerations despite external disturbances, such as aerodynamic drag forces. Hence, prior modeling of aerodynamic effects is not required. We rigorously analyze the proposed control law through response analysis, and we demonstrate it in experiments. The controller enables a quadcopter UAV to track complex 3D trajectories, reaching speeds up to 12.9 m/s and accelerations up to 2.1g, while keeping the root-mean-square tracking error down to 6.6 cm, in a flight volume that is roughly 18 m by 7 m and 3 m tall. We also demonstrate the robustness of the controller by attaching a drag plate to the UAV in flight tests and by pulling on the UAV with a rope during hover.Comment: To be published in IEEE Transactions on Control Systems Technology. Revision: new set of experiments at increased speed (up to 12.9 m/s), updated controller design using quaternion representation, new video available at https://youtu.be/K15lNBAKDC

Equations of motion of slung load systems with results for dual lift

General simulation equations are derived for the rigid body motion of slung load systems. These systems are viewed as consisting of several rigid bodies connected by straight-line cables or links. The suspension can be assumed to be elastic or inelastic, both cases being of interest in simulation and control studies. Equations for the general system are obtained via D'Alembert's principle and the introduction of generalized velocity coordinates. Three forms are obtained. Two of these generalize previous case-specific results for single helicopter systems with elastic or inelastic suspensions. The third is a new formulation for inelastic suspensions. It is derived from the elastic suspension equations by choosing the generalized coordinates so as to separate motion due to cable stretching from motion with invariant cable lengths. The result is computationally more efficient than the conventional formulation, and is readily integrated with the elastic suspension formulation and readily applied to the complex dual lift and multilift systems. Equations are derived for dual lift systems. Three proposed suspension arrangements can be integrated in a single equation set. The equations are given in terms of the natural vectors and matrices of three-dimensional rigid body mechanics and are tractable for both analysis and programming

Aeronautical engineering: A continuing bibliography, supplement 122

This bibliography lists 303 reports, articles, and other documents introduced into the NASA scientific and technical information system in April 1980

Nonlinear Feedback Control of Axisymmetric Aerial Vehicles

We investigate the use of simple aerodynamic models for the feedback control of aerial vehicles with large flight envelopes. Thrust-propelled vehicles with a body shape symmetric with respect to the thrust axis are considered. Upon a condition on the aerodynamic characteristics of the vehicle, we show that the equilibrium orientation can be explicitly determined as a function of the desired flight velocity. This allows for the adaptation of previously proposed control design approaches based on the thrust direction control paradigm. Simulation results conducted by using measured aerodynamic characteristics of quasi-axisymmetric bodies illustrate the soundness of the proposed approach

Power harvesting in a helicopter lag damper

In this paper a new power harvesting application is developed and simulated. Power harvesting is chosen within the European Clean Sky project as a solution to powering in-blade health monitoring systems as opposed to installing an elaborate electrical infrastructure to draw power from and transmit signals to the helicopter body. Local generation of power will allow for a ‘plug and play’ rotor blade and signals may be logged or transmitted wirelessly.\ud The lag damper is chosen to be modified as it provides a well defined loading due to the re-gressive damping characteristic. A piezo electric stack is installed inside the damper rod, effec-tively coupled in series with the damper. Due to the well defined peak force generated in the damper the stack geometry requires a very limited margin of safety. Typically the stack geometry must be chosen to prevent excessive voltage build-up as opposed to mechanical overload.\ud Development and simulation of the model is described starting with a simplified blade and piezo element model. Presuming specific flight conditions transient simulations are conducted using various power harvesting circuits and their performance is evaluated. The best performing circuit is further optimized to increase the specific power output. Optimization of the electrical and mechanical domains must be done simultaneously due to the high electro-mechanical cou-pling of the piezo stack. The non-linear electrical properties of the piezo material, most notably the capacitance which may have a large influence, are not yet considered in this study.\ud The power harvesting lag damper provides sufficient power for extensive health monitoring systems within the blade while retaining the functionality and safety of the standard component. For the 8.15m blade radius and 130 knots flight speed under consideration simulations show 7.5 watts of power is generated from a single damper