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actu
engine
throttle
q
δ e
ΔT
Airplane
Kq
KFF
Kθ
stick
θ
γ
cmd γ
K γ
+
Prefilter
KI
S
_ +_ ++_
Augmented Manual Control Algorithm
Design Objectives
• produce a generalized reusable design with
• generic innerloop, shared with automatic modes
• integral feedback control, to prevent response droop
• final dynamics = classical airplane with ideal constant speed HQ:
• no undesirable response variability with flight condition
• responses decoupled from airspeed - by autothrust
• tracking of Control Reference when pilot out of the loop, e.g.
• pitch/roll attitude
• flight path angle (preferred – minimizes workload)
{(1/ω )S (2 / ω )S 1}(τ S 1)
(τ S 1)(τ S 1)
S
K
{(1/ω )S (2ζ /ω )S 1}
(τ S 1)
S
K
δ
θ
SP SP d
2 2
SP
stick n1 n2
SP SP
2 2
SP
stick n
stick + + +
+ +
=
+ +
+
=
ζ
{(1/K K K )S (1/K K )S (1/K )S 1}(τ S 1)
(K S K S 1)
S
K
δ
γ
I θ2
2
θ I
3
q θ I
FFI
2
stick FFP
stick + + + +
+ +
=
Proposed Design Methodology for
FBW Control Algorithms
Desired:
• systematic/reliable process, producing desired results:
• generalized/reusable design – minimal application & Flt Condition
adaptation
Approach:
Step 1: Stability Augmentation using Static Inversion
eliminates flight condition dependencies, gain schedules
defines basic SP innerloop characteristics: ω, ζ
Step 2: Add Integral Feedback loop
“retrims” airplane - eliminates SS command response droop
Step 3: Add Command Augmentation Feed Forward Paths
shapes response to pilot control inputs, as desired
provides “Hold” function for pilot established command
TECS FPA Control Algorithm
Implementation
stick
δe
Airplane
Invariant
Short Period
design 1
1
2
θ S + τ
FPA
γ
KStick S
1
γc
γc
.
Pitch rate
Pitch attitude
Feed Forward
Control Augmentation
Static θ
Inversion
FPA
Feedback
Control
Augment.
Short
Period
Dyn.
γ
Pilot Induced Oscillation
Avoidance
• pilot in the loop control requirements
• bandwidth - appropriate to the task
• response predictability
• linearity highly desirable
• suitable controller forces & displacements
• display(s) – appropriate to pilot task
• overall system design harmony - need
• adequate control algorithm bandwidth
• adequate actuator bandwidth and rate limits
• correct controller sensitivity & authority
• matching of front-end and back-end design
• display dynamics appropriate for pilot loop closure
Questions??
The Redthorn Group
The Customer
The Redthorn user base ranges from a small fabrication
company with a single user system through to a 100+
user system for a sub-contract supplier to Airbus UK
employing in excess of 500 people and a turnover of 30
million.
All of our users have the following in common:
All are sub-contractors / custom build manufacturers
All require improved profitability through better control
All require comprehensive but manageable software
Redthorn offers this to the sub-contract market through our Aventa
product which is both fully featured and cost competitive.
Redthorn supply manufacturing control software predominately
aimed at the sub-contract engineering environment and custom
build manufacturer.
The company has in excess of 500 UK machining and fabrication
sites utilising three generations of Redthorn software, equating to
over 3000 users.
In Australia, there are more than 100 companies using the Redthorn
software totalling in excess of 400 users.
Redthorn software aids suppliers with traceability and
documentation in the manufacture of components to blue chip
companies such as Airbus UK, BAe, JCB, Caterpillar, Komatsu,
Volvo and GKN Aerospace.
Redthorn provide a software solution designed and supported in the
UK and is developed solely for the engineering industry.
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航空翻译 www.aviation.cn
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