GROUP FOR AERONAUTICAL RESEARCH AND TECHNOLOGY IN EUROPE

ORIGINAL: ENGLISH

Nov. 1, 1995

GARTEUR Open

RCAM Preliminary Design Document

by

Flight Mechanics Action Group 08

GARTEUR aims at stimulating and co-ordinating

co-operation between Research Establishments and Industry
in the areas of Aerodynamics, Flight Mechanics, Helicopters,
Structures & Materials and Propulsion Technology
 GROUP FOR AERONAUTICAL RESEARCH AND TECHNOLOGY IN EUROPE

ORIGINAL: ENGLISH

Nov. 1, 1995

GARTEUR Open

RCAM Preliminary Design Document

by

Flight Mechanics Action Group 08

This report has been prepared under auspices of

the Responsables for Flight Mechanics, Systems
and Integration of the Group for Aeronautical
Research and Technology in EURope (GARTEUR)

Group of Resp. : FM-GoR Action Group : FM(AG08)

Report Resp. : A. Helmersson t
..$& ,k ,-.je Version : 1

: J.C.Terlouw X7P-f
I
Project Man. Completed : Nov. 1, 1995
Monitoring Resp. : J.T.M. van Doorn 1 I / , , @ GARTEUR 1995
 Version: 1
-2- Date: Nov. 1, 1995
GARTEUR/TP-0889
QAITEUR

List of authors

Chapters 1-8: Anders Helmerssonl

a Chapters 1,8: Phillip Sheen2

a Chapter 7: Paul ~ a m b r e c h t s ~

Linkoping University, S-581 83 Linkoping, Sweden.

Email: andersh@isy.liu.se, fax +46 13 28 26 22.
AVRO International Aerospace, Chester Road, Woodford Stockport, Cheshire SK7 lQR,
United Kingdom.
Email: phillip.p.j.sheen@woodford.avro.bae.eurokom.ie, fax +44 161 955 3112.
NLR, Anthony Fokkerweg 2, 1059 CM Amsterdam, The Netherlands.
Email: lambo@nlr.nl, fax +31 20 511 32 10.
Version: 1
Date: Nov. 1, 1995

Summary

This document describes the preliminary design and evaluation of a controller for the
RCAM Design Challenge. This Design Challenge problem was created under the auspices
of GARTEUR Action Group FM-AG08.
The controller was designed using a normalised co-prime factorisation approach combined
with H-infinity synthesis. This method has the advantage of not requiring an explicit
description of the system uncertainties. The actual design is based upon loop-shaping
and is controlled by selecting weighting functions that enable the system to achieve the
performance requirements. The results of the automatic evaluation procedure indicate a
reasonable level of performance for a first iteration even though not all of the requirements
are satisfied.
The format of this report is similar to that required of Design Challenge entries and is
intended to give a flavour of what is expected. However, it does not meet all of the
requirements laid down in the RCAM Design Challenge Manual, GAFU'EURITP-088-3,
and consequently should not be used as a template for Design Challenge Entry documents.
 Version: 1
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FM-AGO8 principal persons

Ahmed S (GB) CCL 1 COPY

Ambrosino G (IT) UNAP 1 copy
Delgado I (ES) INTA 1 COPY
Dormido S (ES) UNED 1 COPY
Duranti P (IT) ALN 1 COPY
Fielding C (UK) BAE 1 COPY
Helmersson A (SE) LiTH 1 COPY
Irving J (GB) BAE (Warton) 1 COPY
Joos H D (DE) DLR 1 COPY
Luckner R (DE) DAA 1 COPY
Magni J F (FR) CERT-ONERA 1 COPY
Muir E (GB) DRA (Bedford) 1 COPY
Post J (NL) FAC 1 COPY
Sheen P (GB) AVRO 1 COPY
StAH-Gunnarsson (SE) SMA 1 COPY
Terlouw J C (NL) NLR 3 copies
Vaart J C van der (NL) DUT 1 COPY
Verde L (IT) CIRA 1 COPY

Members of the Flight Mechanics, Systems and Integration Group of Respon-

sables

Bramstromm B (SE) FMV-F-FL 1 copy

Doorn J T M van (NL) NLR 1 COPY
England P (GB) DRA (Bedford) 1 COPY
Rodloff R (DE) DLR 1 COPY
Verbrugge R A (FR) ONERA-IMFL 1 COPY

Heads of National Delegates

Bouchet J (FR) DGA/DPSA 4 copies

Earwicker M J (GB) DRA (Farnborough ) 4 copies
Dollinger W (DE) Bundesministerium fiir 4 copies
Forschung und Technologic
Houwelingen J van (NL) NLR 4 copies
Persson L B (SE) FFA 4 copies
Version: 1
Date: Nov. 1, 1995 -iv-
GARTEURITP-088-9 Q@RTEUI

Members of the Executive Committee

Abbink F (NL) NLR 1 COPY

Duc J M (FR) ONERA 1 COPY
Gustafkson A (SE) FFA 1 COPY
Haupt R (DE) DLR/PD-L 1 COPY
Coleman G (GB) DRA (Farnborough) 1 COPY

Secretary GARTEUR

Sombroek L (NL) NLR

0t hers

Ackermann J (DE) DLR 1 COPY

Aranda J (ES) UNED 1 COPY
Bennani S (NL) DUT 1 COPY
Bernussou J (FR) LA AS-CNRS 1 COPY
Boer W P de (NL) NLR 1 COPY
Boumans L (NL) NIVR 1 COPY
Ciniglio U (IT) CIRA 1 COPY
Cook M V (UK) CUN 1 COPY
Couwenberg M (NL) NLR 1 COPY
Cruz M de la (ES) UNED 1 COPY
Dam A A ten (NL) NLR 1 COPY
Dang Vu B (FR) ONERA (Salon) 1 COPY
Erkelens L (NL) NLR 1 COPY
Escande B (FR) ONERA 1 COPY
Faleiro L (UK) LUT 1 COPY
Game G (GB) BAE (Filton) 1 COPY
Geest P van der (NL) FAC 1 COPY
Gennuso D (IT) ALN 1 COPY
Glover K (UK) UCAM 1 COPY
Griibel G (DE) DLR 1 COPY
Green M (GB) AVRO 1 COPY
Goverde R (NL) NLR 1 COPY
Hulme K (GB) BAE (Warton) 1 COPY
Huynh H T (FR) ONERA (Salon) 1 COPY
Huzmezan M (UK) UCAM - 1 COPY
Hyde R (GB) CCL 1 COPY
Irving J (UK) DAA/BAE 1 copy
 Version: 1
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LabarrBre M (FR) CERT-ONERA 1 COPY

Lambrechts P (NL) NLR 1 COPY
Looije G (NL) DUT 1 copy .
Maciejowski J M (GB) UCAM 1 COPY
Marthez A (ES) INTA 1 COPY
Menard P (FR) AS 1 COPY
moor ma^ D (DE) DLR 1 COPY
Mulder A (NL) FAC 1 COPY
Navarro J L (ES) INTA 1 COPY
Papageorgiou G (UK) UCAM 1 COPY
Pratt R (UK) LUT 1 COPY
Quesada J L (ES) INTA 1 COPY
Rouwhorst W (NL) NLR 1 COPY
Postlethwaite I (GB) ULES 1 COPY
Scala S (IT) CIRA 1 COPY
Schuring J (NL) NLR 1 COPY
Schuring-Coops M (NL) NLR 1 copy
Smerlas A (UK) ULES 1 COPY
Smith P (GB) DRA (Bedford) 1 COPY
Spee J (NL) NLR 1 COPY
Tonon A (IT) ALN 1 COPY
Tucker M (UK) ULES 1 COPY
VaJk P (NL) DUT 1 COPY
Walker D (UK) ULES 1 COPY
Weiden A van der (NL) DUT 1 COPY
Weise K (DE) DAA 1 COPY
Version: 1
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Contents

List of figures viii

List of tables ix

List of symbols and abbreviations x

1 Introduction 1
1.1 Objectives of Subproject FM-AG08-3 . ................. 1
1.2 Contents of this Document . . . . . . ................. 2

2 Applied Control Design Methodology 3

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.2 Normalised Coprime Factorization . . . . . . . . . . . . . . . . . . . 3
2.3 Loop Shaping using Normalised Coprime Factorization . . . . . . . . 3
2.4 Controller Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.5 Design Cycle Description . . . . . . . . . . . . . . . . . . . . . . . . 5
2.6 A Simple Design Example . . . . . . . . . . . . . . . . . . . . . . . . 5

3 Controller Architecture 8
3.1 Introduction . . . . . ........................... 8
3.2 Measurement Signals ........................... 8
3.3 Actuator Signals . . ........................... 8
3.4 Filters and models . ........................... 8
3.5 Reference Signals . . ........................... 9

4 Translation of Design Criteria 12

5 Description of t h e Design Cycle 13

5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5.2 Numerical tools for controller synthesis and analysis . . . . . . . . . 13
5.3 Longitudinal Channel . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5.3.1 Inner Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5.3.2 Model Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5.3.3 Inner Loop Controller Structure . . . . . . . . . . . . . . . . . . . . . 19
5.3.4 Linear Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3.4.1 Step in Flight Path Angle . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3.4.2 Step in Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3.5 Outer Loop Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.3.6 Implementing the Controller . . . . . . . . . . . . . . . . . . . . . . . 23
5.4 Lateral Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
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5.4.1 Inner Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

5.4.2 Model Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.4.3 Inner Loop Controller Structure . . . . . . . . . . . . . . . . . . . . . . . 26
5.4.4 Linear Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.4.4.1 Sideslip Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.4.4.2 Step in Roll Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.4.5 Outer Loop Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.4.6 Implementing the Controller . . . . . . . . . . . . . . . . . . . . . . . 30

6 Analysis of the Controller in Terms of the Applied Methodology 32

7 Results of the Automated Evaluation Procedure 33

7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.2 A general view of the results . . . . . . . . . . . . . . . . . . . . . . . 33 .
7.3 Segment I: the effect of engine failure . . . . . . . . . . . . . . . . . . 34
7.4 Segment IT: the 3 deg/s turn . . . . . . . . . . . . . . . . . . . . . . 34
7.5 Segment 111: the capture of the -6 and -3 degree glideslope . . . . . 34
7.6 Segment TV: the final approach with windshear . . . . . . . . . . . . 35
7.7 Numerical results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

8 Conclusions 38

References 39

A Used Software 40
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List of figures

2.1 Block diagram of the two-degreeof-freedom controller. . . . . . . . . . .

2.2 Gain of the plant G = 1/s2 (solid) and the open loop gain GK, (dashed).
2.3 Response to a step in output disturbance (solid) and reference signal
(dashed) for the two-degreeof-fieedom controller K, . . . . . . . . . . .
3.1 Structure of the overall controller. . . . . . . . . . . . . . . . . . . . . .
3.2 Structure of the longitudinal controller. . . . . . . . . . . . . . . . . . .
3.3 Structure of the lateral controller. . . . . . . . . . . . . . . . . . . . . . .
5.1 Bode plots of the transfer function from dE to q and f . . . . . . . . . . .
5.2 Singular values of the open loop system with pitch rate feedback only. .
5.3 Singular values of sensitivity and complementary sensitivity functions of
the longitudinal channel . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Singular values of K, for the longitudinal controller . . . . . . . . . . .
5.5 Response to a step in commanded flight path angle. . . . . . . . . . . .
5.6 Response to a step in velocity command . . . . . . . . . . . . . . . . . . .
5.7 Response to a step in air velocity. . . . . . . . . . . . . . . . . . . . . . .
5.8 Altitude response to a step in commanded altitude of 1m (linearised model) .
5.9 Structure of the longitudinal controller. . . . . . . . . . . . . . . . . . .
5.10 Singular values of sensitivity functions of the lateral channel. . . . . . .
5.11 Response to a command in sideslip angle of 2 deg. . . . . . . . . . . . .
5.12 Response to a 20-deg step in roll angle command . . . . . . . . . . . . . .
5.13 Open loop response of the lateral tracking dynamics from and q5c to
lateral error gv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.14 Closed loop lateral response to a unit lateral command . . . . . . . . . .
5.15 Structure of the longitudinal controller. . . . . . . . . . . . . . . . . . .
7.1 The trajectory response of the controlled RCAM model. . . . . . . . . .
7.2 Segment I: the effect of engine failure. . . . . . . . . . . . . . . . . . . .
7.3 Segment 11: the 3 deg/s turn . . . . . . . . . . . . . . . . . . . . . . . . .
7.4 Segment 11: lateral deviations during the 3 deg/s turn . . . . . . . . . . .
7.5 Segment 111: the capture of the -6 and -3 degree glideslope. . . . . . . .
7.6 Segment 111: vertical deviations from the desired glideslope. . . . . . . .
7.7 Segment IV: the final approach with windshear. . . . . . . . . . . . . . .
7.8 Segment IV: vertical deviations from the desired glideslope. . . . . . . .
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List of tables

5.1 MATLABfunctions used during the design. . . . . . .

, .. ......... 14
7.1 Numerical results of the evaluation procedure. . . . . .... ....... 37