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case of high gain and high phase distortion. Increasing the
phase distortion to the V8 case in figure 47 shows a
further reduction in precision from that of the V7 case.
Again, the gain of 30% is insufficient, but the combination
of the low gain with some phase distortion makes the
performance even more degraded.
The low-gain, high-washout case of configuration V9 in
figure 48 exhibits a further degradation, the middle of the
desired oval being occupied with the aircraft’s trajectory.
Finally, the no-motion case of configuration V10 in
figure 49 indicates the worst performance of all; the
imprecise control of velocity is obvious at both the top
and bottom points.
37
-20 -10 0 10 20
70
75
80
85
90
Vertical velocity, ft/sec
Altitude, ft
Figure 44. Phase-plane portrait for configuration V5.
-20 -10 0 10 20
70
75
80
85
90
Vertical velocity, ft/sec
Altitude, ft
Figure 45. Phase-plane portrait for configuration V6.
-20 -10 0 10 20
70
75
80
85
90
Vertical velocity, ft/sec
Altitude, ft
Figure 46. Phase-plane portrait for configuration V7.
-20 -10 0 10 20
70
75
80
85
90
Vertical velocity, ft/sec
Altitude, ft
Figure 47. Phase-plane portrait for configuration V8.
-20 -10 0 10 20
70
75
80
85
90
Vertical velocity, ft/sec
Altitude, ft
Figure 48. Phase-plane portrait for configuration V9.
-20 -10 0 10 20
70
75
80
85
90
Vertical velocity, ft/sec
Altitude, ft
Figure 49. Phase-plane portrait for configuration V10.
38
Subjective Performance Data
Figure 50 shows pilot motion-fidelity ratings along with
the postulated boundaries of Sinacori (ref. 44). The pilots
unanimously rated the high-gain, low-washout configurations
V1 and V2 as having high fidelity. If either the gain
was reduced (as in V5) or the phase distortion increased
(as in V3), one of the three pilots reduced his rating to
medium. When a combination of this gain and phase
distortion was examined, that is, configuration V6, the
ratings dropped on average across one level. However, one
of the pilots did not perceive differences between the V3 or
V5 configuration and the V6 combination.
- Pilot A
- Pilot B
- Pilot C
M M
V4
100
80
60
40
20
0
0.4 0.6 0.8 1.0
Gain @ 1 rad/sec
Phase distortion @ 1 rad/sec (deg)
0.0 0.2
L L M
V9
L
L M
V8
L L M
V6
M H
H
H
V3
M
M M
V7
L H H
V5
M H H
V2
H
H H
H
V1
H
L L
L
V10
Fixed base
Low
Medium
High
L
H M
Figure 50. Motion fidelity ratings for altitude control.
The next individual changes in gain or phase from the V3
and V5 cases to the V4 and V7 cases produced, on average,
a decrease from high to medium fidelity. However, a
combination of these effects, encompassed by the V9
configuration, produced unanimously low fidelity ratings.
Unsurprisingly, the fixed-base configuration, V10, also
produced unanimously low fidelity ratings.
These ratings suggest that for this task, the fidelity
criterion for the vertical axis appears to decrease from
high-gain/low-phase-distortion in a direction toward the
fixed-base case. The combination configurations V2,
V6, and V9 result in ratings predicted by the criterion.
However, either reducing the gain or increasing the phase
distortion resulted in fidelity ratings better than predicted,
on average.
Combined Results
It is reasonable to suggest a revision to the Sinacori
criterion (ref. 44) if objective performance, subjective
pilot fidelity ratings, and subjective pilot comments are
consistent. Each of the configurations is discussed, and
when a consistency exists that does not align with the
criterion, then a modification to the criterion is suggested.
With the full-motion case, configuration V1, pilots were
consistent in their comments that they achieved desired
performance, that compensation was minimal to moderate,
and that they felt that they could be very aggressive with
the vehicle. All ratings were high fidelity, and the
objective performance was good.
For the configuration with a slight decrease in gain and an
increase in phase distortion, V2, the comments indicated
that a difference was noted. Two of the three pilots noticed
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Helicopter Flight Simulation Motion Platform Requirements(26)
