The insertion of human dynamics models in the flight control loops of V/STOL research aircraft. Appendix 2: The optimal control model of a pilot in V/STOL aircraft control loops

An overview is presented of research work focussed on the design and insertion of classical models of human pilot dynamics within the flight control loops of V/STOL aircraft. The pilots were designed and configured for use in integrated control system research and design. The models of human behavior that were considered are: McRuer-Krendel (a single variable transfer function model); and Optimal Control Model (a multi-variable approach based on optimal control and stochastic estimation theory). These models attempt to predict human control response characteristics when confronted with compensatory tracking and state regulation tasks. An overview, mathematical description, and discussion of predictive limitations of the pilot models is presented. Design strategies and closed loop insertion configurations are introduced and considered for various flight control scenarios. Models of aircraft dynamics (both transfer function and state space based) are developed and discussed for their use in pilot design and application. Pilot design and insertion are illustrated for various flight control objectives. Results of pilot insertion within the control loops of two V/STOL research aricraft (Sikorski Black Hawk UH-60A, McDonnell Douglas Harrier II AV-8B) are presented and compared against actual pilot flight data. Conclusions are reached on the ability of the pilot models to adequately predict human behavior when confronted with similar control objectives

Computer simulation of a pilot in V/STOL aircraft control loops

The objective was to develop a computerized adaptive pilot model for the computer model of the research aircraft, the Harrier II AV-8B V/STOL with special emphasis on propulsion control. In fact, two versions of the adaptive pilot are given. The first, simply called the Adaptive Control Model (ACM) of a pilot includes a parameter estimation algorithm for the parameters of the aircraft and an adaption scheme based on the root locus of the poles of the pilot controlled aircraft. The second, called the Optimal Control Model of the pilot (OCM), includes an adaption algorithm and an optimal control algorithm. These computer simulations were developed as a part of the ongoing research program in pilot model simulation supported by NASA Lewis from April 1, 1985 to August 30, 1986 under NASA Grant NAG 3-606 and from September 1, 1986 through November 30, 1988 under NASA Grant NAG 3-729. Once installed, these pilot models permitted the computer simulation of the pilot model to close all of the control loops normally closed by a pilot actually manipulating the control variables. The current version of this has permitted a baseline comparison of various qualitative and quantitative performance indices for propulsion control, the control loops and the work load on the pilot. Actual data for an aircraft flown by a human pilot furnished by NASA was compared to the outputs furnished by the computerized pilot and found to be favorable

Computer simulation of a single pilot flying a modern high-performance helicopter

Presented is a computer simulation of a human response pilot model able to execute operational flight maneuvers and vehicle stabilization of a modern high-performance helicopter. Low-order, single-variable, human response mechanisms, integrated to form a multivariable pilot structure, provide a comprehensive operational control over the vehicle. Evaluations of the integrated pilot were performed by direct insertion into a nonlinear, total-force simulation environment provided by NASA Lewis. Comparisons between the integrated pilot structure and single-variable pilot mechanisms are presented. Static and dynamically alterable configurations of the pilot structure are introduced to simulate pilot activities during vehicle maneuvers. These configurations, in conjunction with higher level, decision-making processes, are considered for use where guidance and navigational procedures, operational mode transfers, and resource sharing are required

Computer simulation of multiple pilots flying a modern high performance helicopter

A computer simulation of a human response pilot mechanism within the flight control loop of a high-performance modern helicopter is presented. A human response mechanism, implemented by a low order, linear transfer function, is used in a decoupled single variable configuration that exploits the dominant vehicle characteristics by associating cockpit controls and instrumentation with specific vehicle dynamics. Low order helicopter models obtained from evaluations of the time and frequency domain responses of a nonlinear simulation model, provided by NASA Lewis Research Center, are presented and considered in the discussion of the pilot development. Pilot responses and reactions to test maneuvers are presented and discussed. Higher level implementation, using the pilot mechanisms, are discussed and considered for their use in a comprehensive control structure

The Massive Collapse of Coal Pillars -- Case Histories from the United States

A massive pillar collapse occurs when undersized pillars fail and rapidly shed their load to adjacent pillars which in turn fail. This chain reaction-like failure may involve hundreds, even thousands, of pillars and the consequences have been catastrophic. One effect of a massive pillar collapse can be a powerful, destructive, and a potentially hazardous airblast. On eleven recent occasions, massive pillar collapses have occurred in six southern West Virginia coal mines. Research was conducted at four mines where massive pillar collapses occurred. Geotechnical evaluations of roof rock, coalbed, and floor conditions were made. Evidence indicates that in each case a massive and competent roof rock unit was able to bridge a relativelywide span, creating a pressure arch. Eventually, the pressure arch apparently broke down, and the structural characteristics of the pillar system were such that sudden, massive pillar failures occurred. Data collected at the failure sites also indicates that all the massive collapses occurred where the pillars width-to-height ratio was 3.0 or less. Numerical modeling, supports the conclusions that the extent of the mined-out-area, the bridging capability of the main roof, and the width-to-height ratio of the pillars are probably all significant factors in the occurrence of massive pillar failures. -from Author

Preventing Massive Pillar Collapses in Coal Mines

A massive pillar collapse occurs when undersized pillars fail and rapidly shed their load to adjacent pillars, which in turn fail. The consequences of these chain-reaction failures can be catastrophic. One effect of a massive pillar collapse can be a powerful, destructive, and potentially hazardous airblast. Thirteen recent massive pillar collapses have been documented in West Virginia, Ohio, Utah, and Colorado. Data collected at the failure sites indicate that all of the massive collapses occurred where the pillar width-to-height(w/h) ratio was 3.0 or less and where the Analysis of Retreat Mining Stability Factor was less than 1.5. The unique structural characteristics of these pillar systems apparently result in sudden, massive pillar failures, rather than the more common slow \u27squeezes.\u27 The field data, combined with theoretical analysis, provide the basis for two partial-extraction design approaches to control massive pillar collapses. These are the containment approach and the prevention approach; practical examples are provided of each