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Simulation
Mohamed Guiatni, Abdelmadjid Ournid, Mohamed Amine Boulahlib and Abdelkrim Abane
Control and Command Laboratory
Ecole Militaire Polytechnique
Algiers, 16111 Algeria
Email: mohamed.guiatni@gmail.com
AbstractIn this paper, we develop and integrate a forcereflection side stick controller for a research flight simulator,
including a 2 degrees of freedom (DOF) joystick and the related
software. The developed force-reflection joystick provides twoway communication in both position and force, and is very
helpful for the user to interact with the simulation system.
Thus, the design must allow the restitution of aerodynamic
forces onto the hand of the pilot. This is an important feature,
which gives the pilot the natural feel of traditional mechanical
aircraft control. An automatic controller is implemented based on
fuzzy logic systems which provide a control strategy from expert
knowledge. For demonstration, we integrate the developed side
stick controller system to pilot a virtual aircraft using Microsoft
Flight Simulator software (MSFS).
I. I NTRODUCTION
Simulation is a useful tool for aviation research. It has
evolved and matured over the last forty years in equal pace
with developments in the aerospace industry. When flight simulation and research are combined, the objective is to measure
the human performance in the simulated environment [1].
Research will pose certain requirements on the simulation
hardware and software used; it requires generic tools that can
be adjusted to the evolving insight in topics. This implies that
flight simulators (hardware) and simulation models (software)
used for research will often be a compromise between realism
and flexibility [2]. A flight simulator must include an aircraft
model, a display capability and control hardware for the
pilot [3]. Three examples of commonly used flight simulator
packages are Microsofts Flight Simulator (MSFS), FlightGear
and XPlane. The display is a three dimensional environment
shown on a monitor or projected onto a screen. The flight
controls are hardware providing input to the aircraft model.
In most cases they are aircraft-like control input such as a
joystick, yoke and rudder pedals.
The interaction between the pilot and the flight control
system is one of the subjects of concern. In manual control of
the aircraft, the stick is the primary input device to the flight
control system. This stick usually provides the pilot only with
an impression of the input to the flight control system, the
stick force or stick displacement. This is in contradiction to
the conventional control systems were the stick force and stick
displacement have a direct relation to the control surface hinge
moments and deflections.
The aim of this work is to develop a new control interface to
GS
Control
Column
FS
Gearing
H
Control moment
Control
Position
Sensor
Trim Actuator
Fig. 2.
Stability
Augmentation
Actuator
Begin
Open the RS232 link
Open the FSUIPC link
Fig. 1.
Ts time out
YES
NO
Data processing
Data processing
Write data in
FS2004
NO
Terminate
YES
Disconnect the RS232 link
Close the FSUIPC link
End
Fig. 3.
TABLE I
D ATA EXTRACTION AND CONVERSION EXAMPLE .
Offset
0x0578
0x057C
Format/Size
Integer
4 Bytes
Integer
4 Bytes
Use
Pitch,360/(65536 65536) f or degrees
0 = level,ve = pitch up,+ve = pitch down
Bank,360/(65536 65536) f or degrees
0 = level,ve = bank right,+ve = bank le f t
form (without unit conversion) in order to accelerate computation, (see Fig.3). Reading-sending process is cadenced using
a basic software timer that permit to the user to set the sample
time. Data are sampled at a frequency of 1KHz.
IV. PID I MPLEMENTATION FOR T ORQUE C ONTROL
Torque is deduced from the actuators current measured
using Hall-Effect sensor based on calibration experiments. We
selected experimentally the PID parameters those keep the
system stable (without exceeding value in the transient phase),
eliminate the steady state error and reduce the response time,
(see Fig. 4).
A. Fuzzification
For the implementation of this project, two controllers (one
for each axe) were designed. Tree variables were used as
input for fuzzy controller those are, the airspeed, the angular
velocities and the deflection angles of the control surfaces.
The output of the controller is the desired force to be provided
by the joystick. There were 3 linguistic terms for each input
variable. These terms are:
----- Desired
----- Obtained
Torque (N.m)
Torque (N.m)
B. Rule-based system
Time (s)
Time (s)
Fig. 4.
TABLE II
RULE BASE SYSTEM .
Airspeed/Deflection
Angular velocity
SA/ZZD
SA/PSD
SA/PBD
MA/ZZD
MA/PSD
MA/PBD
BA/ZZD
BA/PSD
BA/PBD
MPF
NBV
VSNF
ZF
VSPF
VSNF
VSPF
SPF
VSNF
SPF
NSV
VSNF
VSPF
SPF
VSNF
SPF
MPF
VSNF
MPF
BPF
ZZV
ZF
SPF
MPF
ZF
MPF
BPF
ZF
BPF
VBPF
PSV
VSPF
MPF
BPF
SPF
BPF
VBPF
MPF
VBPF
MPF
PBV
SPF
BPF
VBPF
MPF
VBPF
MPF
BPF
MPF
MPF
PID Controller
Graphic station
Control station
P
Fuzzy
Controller
Amp
2 DOF Side
Stick
Flight
simulator
2004
+
D
Control Signals
Current
Sensor
Q8 Control Board
Surface
Deflection
The developped
Side-Stick Controller
Airspeed
Aircraft Motion
Fig. 5.
Fig. 6.
Velocity (deg/s)
Time (sec)
Time (sec)
Fig. 7. Evolution of the pitch velocity (left) and the roll velocity (right) of
the aircraft.
VII. C ONCLUSIONS
In this work, we contribute in the field of flight simulation
throw the proposition of a new interface for training pilots.
The proposed interface allows to the pilot to control a virtual
aircraft and to feel the force feedback from the aerodynamic
forces. We combined a commercial software that provides a
virtual environment modeling the aircraft dynamics and the
assembled side-stick that imitates the real aircraft controller.
Experiments were performed in order to evaluate the proposed
control loop based on a PID-Fuzzy Logic controller. The
Time (sec)
Time (sec)
Fig. 8. Evolution of the deflection angles of the elevator (left) and the aileron
(right).
---- Desired
---- Obtained
Time (sec)
Time (sec)
Fig. 9. Force feedback from the side-stick according to the pitch axis (left)
and the roll axis (right).