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• Honeywell
Military
• Lockheed Martin (General Dynamics)
– F-16, F-22, F-35 (JSF)
• Northrup Grumann
– F-14, F-20, B-2
• Boeing (McDonnell Douglas, North American Rockwell)
– B-52, B-1B, C-17 C-40A, F/A-18, KC-10
• Honeywell
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USA
AV-8 Harrier
B-2 Spirit
B-747
B-747
C-5 Starlifter
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USA
B-747
UCAV
F-117A
U-2
F/A-18E/F
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USA - 1947
B-747
B-377 Stratocruiser
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USA Flight Control Specifications
Multivariable Control
• Multiple sensors, disturbances, objectives, surfaces (TV) with coupling.
• Military specifications focus on SISO, loop-at-a-time analysis
Multivariable Control Design Guidelines (1996)
• Honeywell Research Labs, Lockheed Ft. Worth, Lockheed Skunk Works
• Eigenstructure assignment, dynamic inversion, -synthesis
• F-177, YF-22 and MCT/F-16
• Report provides a reference point for the US Air Force to evaluate the design
of future flight control systems.
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Boeing
The Boeing Company
• Largest manufacturer of aircraft in the world.
• Merger of Boeing, Rockwell International and McDonnell Douglas
– Variety of approaches to flight control design
Multivariable Flight Control
• First application in 1978 as part of a NASA research program.
• Since 1980s, multivariable control as been applied to a number of aircraft
–Multivariable control with classical frequency-domain interpretations.
– Guidelines to transform design requirements into math
– Training of control engineers
– User-friendly control software programs.
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Boeing
Multivariable Control Design
• LQR/LQG based
• Performance and robustness
• Direct tradeoff between command response, control activity,
disturbance rejection and loop bandwidth
• Key: Selection of variables to regulate and controls to perform
regulation
• “Integral” regulators augmented, zero steady-state errors to
constant inputs
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Boeing
Integral LQR/LQG design procedure:
• Select controls and regulated outputs: # controls = # regulated variables.
–Check singular values and transmission zeros.
• Attach integrators and set target zeros.
• Select Q and R matrices for LQR problem.
–Q and R selected based on command loop crossover frequencies.
•Q ( R ) diagonal, qi (ri) adjusts bandwidth of command loop for yi (ui).
–Check loop at input to integrator and actuator.
–Note that the control loop crossover frequency is limited by the actuator
capabilities and structural mode coupling.
– Verify that the phase margins at higher frequencies are sufficient.
• Feed-forward gains adjusted for flying qualities.
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Boeing
Applied to B-767, JSF (Boeing), UCAV, JDAM MMT and ACTIVE F-15.
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Boeing – X-36
B-747
X-36 Prototype fighter aircraft
•Stealth and agility prior to UCAV
•28% scale, remotely piloted
•Reconfigurable flight control laws
Reconfigurable flight control laws
• Dynamic inversion (DI)
• Explicit model following framework
• On-line neural network (NN) to adaptively regulate inversion error:
• Uncertainties
• Failures
• Damage
• Desired dynamics and control mixer same for DI and adaptive NN
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Boeing – X-36
B-747
Reconfigurable flight control laws
• NN able to stabilize vehicle following failures and damage.
• On-line NN adaptively canceled inversion error.
• NN/DI controller provide improved HQ when failures occurred.
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Honeywell
Honeywell Research Center (Honeywell Labs)
•Significant contribution to areas of robust control and dynamic inversion.
•Approach to NDI is MACH (Multi-Application Control).
•MACH is a modular, nonlinear multivariable design approach.
–Blends classical control design with inversion.
•Outer-loop controllers: Proportional or PI.
•Inner-loop controllers: Dynamic Inversion .
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Honeywell MACH
B-747
•Outer loops: multivariable signal shaping provides position command
and rate tracking.
•Inner loops: NDI to normalize vehicle dynamics to be integrators.
•NDI requires on-board model (OBAC).
•Estimate derivatives of aircraft states and control variables (CV).
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Honeywell MACH
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