A failure effects simulation of a low authority flight control augmentation system on a UH-1H helicopter

A two-pilot moving base simulator experiment was conducted to assess the effects of servo failures of a flight control system on the transient dynamics of a Bell UH-1H helicopter. The flight control hardware considered was part of the V/STOLAND system built with control authorities of from 20-40%. Servo hardover and oscillatory failures were simulated in each control axis. Measurements were made to determine the adequacy of the failure monitoring system time delay and the servo center and lock time constant, the pilot reaction times, and the altitude and attitude excursions of the helicopter at hover and 60 knots. Safe recoveries were made from all failures under VFR conditions. Pilot reaction times were from 0.5 to 0.75 sec. Reduction of monitor delay times below these values resulted in significantly reduced excursion envelopes. A subsequent flight test was conducted on a UH-1H helicopter with the V/STOLAND system installed. Series servo hardovers were introduced in hover and at 60 knots straight and level. Data from these tests are included for comparison

Development of an advanced pitch active control system for a wide body jet aircraft

An advanced PACS control law was developed for a commercial wide-body transport (Lockheed L-1011) by using modern control theory. Validity of the control law was demonstrated by piloted flight simulation tests on the NASA Langley visual motion simulator. The PACS design objective was to develop a PACS that would provide good flying qualities to negative 10 percent static stability margins that were equivalent to those of the baseline aircraft at a 15 percent static stability margin which is normal for the L-1011. Also, the PACS was to compensate for high-Mach/high-g instabilities that degrade flying qualities during upset recoveries and maneuvers. The piloted flight simulation tests showed that the PACS met the design objectives. The simulation demonstrated good flying qualities to negative 20 percent static stability margins for hold, cruise and high-speed flight conditions. Analysis and wind tunnel tests performed on other Lockheed programs indicate that the PACS could be used on an advanced transport configuration to provide a 4 percent fuel savings which results from reduced trim drag by flying at negative static stability margins

An approach to high speed ship ride quality simulation

The high speeds attained by certain advanced surface ships result in a spectrum of motion which is higher in frequency than that of conventional ships. This fact along with the inclusion of advanced ride control features in the design of these ships resulted in an increased awareness of the need for ride criteria. Such criteria can be developed using data from actual ship operations in varied sea states or from clinical laboratory experiments. A third approach is to simulate ship conditions using measured or calculated ship motion data. Recent simulations have used data derived from a math model of Surface Effect Ship (SES) motion. The model in turn is based on equations of motion which have been refined with data from scale models and SES of up to 101 600-kg (100-ton) displacement. Employment of broad band motion emphasizes the use of the simulators as a design tool to evaluate a given ship configuration in several operational situations and also serves to provide data as to the overall effect of a given motion on crew performance and physiological status

A comparison of results from two simulators used for studies of astronaut maneuvering units

A comparison of the results from a fixed-base, six-degree-of -freedom simulator and a moving-base, three-degree-of-freedom simulator was made for a close-in, EVA-type maneuvering task in which visual cues of a target spacecraft were used for guidance. The maneuvering unit (the foot-controlled maneuvering unit of Skylab Experiment T020) employed an on-off acceleration command control system operated entirely by the feet. Maneuvers by two test subjects were made for the fixed-base simulator in six and three degrees of freedom and for the moving-base simulator in uncontrolled and controlled, EVA-type visual cue conditions. Comparisons of pilot ratings and 13 different quantitative parameters from the two simulators are made. Different results were obtained from the two simulators, and the effects of limited degrees of freedom and uncontrolled visual cues are discussed

Benchmarking Cerebellar Control

Cerebellar models have long been advocated as viable models for robot dynamics control. Building on an increasing insight in and knowledge of the biological cerebellum, many models have been greatly refined, of which some computational models have emerged with useful properties with respect to robot dynamics control. Looking at the application side, however, there is a totally different picture. Not only is there not one robot on the market which uses anything remotely connected with cerebellar control, but even in research labs most testbeds for cerebellar models are restricted to toy problems. Such applications hardly ever exceed the complexity of a 2 DoF simulated robot arm; a task which is hardly representative for the field of robotics, or relates to realistic applications. In order to bring the amalgamation of the two fields forwards, we advocate the use of a set of robotics benchmarks, on which existing and new computational cerebellar models can be comparatively tested. It is clear that the traditional approach to solve robotics dynamics loses ground with the advancing complexity of robotic structures; there is a desire for adaptive methods which can compete as traditional control methods do for traditional robots. In this paper we try to lay down the successes and problems in the fields of cerebellar modelling as well as robot dynamics control. By analyzing the common ground, a set of benchmarks is suggested which may serve as typical robot applications for cerebellar models

Cortical Networks for Control of Voluntary Arm Movements Under Variable Force Conditions

A neural model of voluntary movement and proprioception functionally interprets and simulates cell types in movement related areas of primate cortex. The model circuit maintains accurate proprioception while controlling voluntary reaches to spatial targets, exertion of force against obstacles, posture maintenance despite perturbations, compliance with an imposed movement, and static and inertial load compensations. Computer simulations show that model cell properties mimic cell properties in areas 4 and 5. These include delay period activation, response profiles during movement, kinematic and kinetic sensitivities, and latency of activity onset. Model area 4 phasic and tonic cells compute velocity and position commands which activate alpha and gamma motor neurons, thereby shifting the mechanical equilibrium point. Anterior area 5 cells compute limb position using corollary discharges from area 4 and muscle spindle feedback. Posterior area 5 cells use the perceived position and target position signals to compute a desired movement vector. The cortical loop is closed by a volition-gated projection of this movement vector to area 4 phasic cells. Phasic-tonic cells in area 4 incorporate force command components to compensate for static and inertial loads. Predictions are made for both motor and parietal cell types under novel experimental protocols.Office of Naval Research (N00014-92-J-1309, N00014-93-1-1364, N00014-95-l-0409, N00014-92-J-4015); National Science Foundation (IRI-90-24877, IRI-90-00530