Handling Qualities Review….. - Lilienthal-Oberth e.V. · » Closed Loop Handling Qualities (CLHQ)...
Transcript of Handling Qualities Review….. - Lilienthal-Oberth e.V. · » Closed Loop Handling Qualities (CLHQ)...
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1Rogers SmithRogers SmithConsultantConsultant
/ / NTPSNTPS
RoleRole
of Pilot of Pilot ModellingModelling
WithinWithin
HQHQ
EvaluationsEvaluationsManching, Germany, 11 Nov 2008Manching, Germany, 11 Nov 2008
Handling Qualities ReviewHandling Qualities Review……....
……
a Practical Perspectivea Practical Perspective
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A PilotA Pilot--EngineerEngineer’’s Overview !s Overview !
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AlternateAlternate
Title.....Title..... Evolution of Modern Evolution of Modern FlightFlight
ControlControl
SystemsSystems
….and My Pilot Modelling Exposure
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•• Introduction Introduction ––
WhoWho
am I? am I? WhyWhy
am I am I herehere??
•• A Little A Little HistoryHistory--
Wright Brothers....Wright Brothers....
•• Pilot Pilot ModellingModelling
and and meme
!!
--
CriteriaCriteria
DevelopmentDevelopment
--
NealNeal--Smith Smith PerspectivePerspective
•• RealityReality: : PIOPIO‘‘ss
--
ExamplesExamples
•• PracticalPractical
PerspectivePerspective/ / CaseCase
HistoryHistory
•• Final Final CommentsComments
and a Little Musical Inspirationand a Little Musical Inspiration
Topics / Topics / PurposePurpose
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•• Test Pilot/ Test Pilot/ EngineerEngineer
((manymany
decadesdecades
!)!)•• NRC (Canada) NRC (Canada) --
CAL(CalspanCAL(Calspan))
NASA (Langley / NASA (Langley / DrydenDryden))•• Projects:Projects:
--
(NRC / (NRC / CalspanCalspan))
> (VS > (VS HelicoptersHelicopters, X, X--22, NT22, NT--33)33)
--
(Neal(Neal--Smith)Smith)
--
(X(X--29, X29, X--31......)31......)
•• EADS / Eurofighter (FCS Team, EADS / Eurofighter (FCS Team, DirectorDirector
FlightFlight
Test)Test)
•• NTPSNTPS
((InstructorInstructor) )
MY BACKGROUNDMY BACKGROUND
NASANASA
AirborneAirborne
Simulators:Simulators:
HQHQ‘‘ss::
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Why Look Back in History ?
“
What is Past is Prologue ”
“
Those
who
do not
learn
from
history
are
doomed
to repeat
it
″
“
The Future ”
* William Shakespeare
* George Santayana
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A Little HistoryA Little History……the the Evolution BeginsEvolution Begins
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Wright BrothersWright Brothers’’ EvolutionEvolution……19001900--19031903•• Longitudinal control with Longitudinal control with
““horizontal rudderhorizontal rudder””
forward forward of wingsof wings
•• CG coincident with ACCG coincident with AC•• PIOPIO’’s (Final TD~0.5 sec)s (Final TD~0.5 sec)19041904•• Moved elevator further Moved elevator further
forwardforward•• Moved CG aftMoved CG aft•• PIOPIO’’s (TD~0.4 sec)s (TD~0.4 sec)19051905•• Ballasted for more Ballasted for more forwardforward
CGCG•• Success (but still unstable) Success (but still unstable)
~1.0 s~1.0 s
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Pilot Modelling and MePilot Modelling and Me
•• My History ~ 1970My History ~ 1970’’ss
--
““BirthBirth””
of Highlyof Highly--Augmented Designs (..YFAugmented Designs (..YF--16)16)--
Need for Suitable HQ CriteriaNeed for Suitable HQ Criteria
--
NTNT--33 Data Base (Specs no longer valid)33 Data Base (Specs no longer valid)--
Interest in Pilot Modelling (NRC/CAL) Interest in Pilot Modelling (NRC/CAL)
•• NealNeal--Smith Criterion Evolved (More Later)Smith Criterion Evolved (More Later)
•• Criteria Development Criteria Development ““ExplosionExplosion””
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Other Criteria in Review (my list !)Other Criteria in Review (my list !)
•• Bandwidth (Roger Hoh)Bandwidth (Roger Hoh)•• Equivalent Systems (John Hodgkinson)Equivalent Systems (John Hodgkinson)•• Gibson (John Gibson) Gibson (John Gibson) ––Eclectic Approach!Eclectic Approach!•• PIO (Ralph Smith)PIO (Ralph Smith)•• Time Domain (Onstott)Time Domain (Onstott)•• Northrop (Nelson)Northrop (Nelson)•• ““Paper PilotPaper Pilot””
(Ron Anderson) (Ron Anderson) ––Famous LetterFamous Letter
•• Plus morePlus more……....
•• Evolution of Accurate Pilot Models Evolution of Accurate Pilot Models (Dr. Ron Hess)(Dr. Ron Hess)……....
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Criteria Bottom LineCriteria Bottom Line
•• Overview ReferenceOverview Reference--
NASA Report (Radford et al, CR 163097, June NASA Report (Radford et al, CR 163097, June
1980)1980)Shows how to use NealShows how to use Neal--Smith effectively Smith effectively
•• Can use most as Design Tools and learn Can use most as Design Tools and learn somethingsomething
--
But need to use many to get guidanceBut need to use many to get guidance
•• Too Much Focus on Too Much Focus on ““Mine is BestMine is Best””
•• Strong Desire to do it all with ModellingStrong Desire to do it all with Modelling
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Neal-Smith Pitch Attitude Model
Kp - pilot gain
p1 - pilot lead
p2 - lag
Time Delay = 0.3 sec
Kp e-0.3sτp1
τp 2
+ 1s+ 1s
θFs+
−
θc Fsθ e
“Pilot”Airframeplus FCSPitch Compensator
Standard of Performance
= Bandwidth (BW)τττ
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MFCS:
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NealNeal--Smith Criterion for Pitch DynamicsSmith Criterion for Pitch Dynamics
xX2
X3
X4
X5
F-16
X4
X3
X2
SpaceShuttle
Band Width
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NealNeal--Smith Problems ??Smith Problems ??
•• Not Suitable for a Specification (Mil Spec)Not Suitable for a Specification (Mil Spec)--
Never agree on BandwidthsNever agree on Bandwidths
•• Huge debates about Huge debates about ““Pilot ModelPilot Model””
formform--
Not really the issueNot really the issue
--
Changed to Changed to ““Pitch CompensatorPitch Compensator””--
Still useful as a Still useful as a Design ToolDesign Tool
•• Let us look next at the Challenge of Modelling the Let us look next at the Challenge of Modelling the Pilot in a PIO eventPilot in a PIO event
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Pilot Induced OscillationAnd the FAA
Or(Aircraft-Pilot Coupling) *
* was “in”
but now “out”
!!
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Military/ NASA History
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Rate Limited Surface Actuator Issue
Pilot Commanded Position
Actuator OutputPosition
Δtimedelay
20
10
-10
-20
1 2 3 4 5 6
SurfaceDeflection
~ degTime ~ seconds
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Potential Causes of PIO
• Pilot controllers with ~Small displacement~Light forces~Equals, too sensitive (designed on ground
simulator)
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Civil Issues
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Transport Aircraft PIO Incidents
MDMD--11 Flight Number 583, 11 Flight Number 583, 19931993In cruise In cruise --inadvertent leading edge slats inadvertent leading edge slats deployment deployment Two passengers fatally injuredTwo passengers fatally injured. .
MD-11, Nagoya - June 08, 1997Autopilot disengaged resulting in a 15 sec period
of violent oscillations, One flight attendant killed; 3 passengers
seriously injured, 9 Minor Injuries
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Necessary Conditions for PIO
•Pilot plus Aircraft,
• Attempting a High-Gain, Closed-Loop
Task,
• Critical BOUNDARY CONDITIONS,
• Latent HQ’s Deficiencies,
-
Time delay (Phase Lag)
-
Surface Rate Limiting
-
FCS or Aerodynamic Non-Linearities
-
High Control Sensitivities/ Poor Dynamics
• Must be a TRIGGER
to start the event
!!
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But, The Testing Challenge is.......
•To Create SAFE, RELEVANT High-Gain Closed-Loop Tasks
•Remembering the Effect of BOUNDARY CONDITIONS, and.....
•Potential “TRIGGERS”
» Closed Loop Handling Qualities (CLHQ) testing
» IS Still Required !!
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Pilot Modelling CommentsPilot Modelling Comments
•• Are we Going to Replace CLHQAre we Going to Replace CLHQ’’s Testing ?s Testing ?
--
No, the Pilot Situation (Triggers) and No, the Pilot Situation (Triggers) and Adaptability is Too Complex to Model perfectlyAdaptability is Too Complex to Model perfectly
•• Is Pilot Modelling a Useful Design/ Evaluation Is Pilot Modelling a Useful Design/ Evaluation Tool?Tool?
--
Yes Yes
•• A Case in Point is the NealA Case in Point is the Neal--Smith Criterion as a Smith Criterion as a
Design ToolDesign Tool
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General General ModellingModelling
ExampleExample
•• PIO During Eurofighter InPIO During Eurofighter In--Flight Refueling Flight Refueling Development TestingDevelopment Testing
•• Reaction Reaction ––
““ItIt’’s the Pilot, he is not flying properly !s the Pilot, he is not flying properly !””
--
Design/Models Correct: A/C and Pilot Wrong !Design/Models Correct: A/C and Pilot Wrong !
•• Narrow Focus on Narrow Focus on ModellingModelling
not Flight Test plus not Flight Test plus Restricted Criteria UseRestricted Criteria Use
•• Lessons of the Past Finally Heard (Lessons of the Past Finally Heard (Use All the Use All the Tools)Tools)
•• Problem Easily Fixed in FBW Flight Control Problem Easily Fixed in FBW Flight Control SystemSystem
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Summary Comments / Lessons To Be Summary Comments / Lessons To Be LearnedLearned
•• Our Goal is always a Our Goal is always a ““User Friendly DesignUser Friendly Design””
--
With FBW Technology With FBW Technology --
Should hit the Should hit the
““Sweet SpotSweet Spot””
EVERY time ! (EVERY time ! (Min CompensationMin Compensation))
•• Need to Use ALL the tools (Need to Use ALL the tools (““godgod’’ss””
Wind tunnel)Wind tunnel)
--
Include all available Criteria and PILOT Include all available Criteria and PILOT Models Models ––
BALANCED APPROACHBALANCED APPROACH
•• DonDon’’t Try to do it All with MODELLINGt Try to do it All with MODELLING
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Music : Nicole Kidman
–
One
day
I’ll
fly
awayMusic : Nicole Music : Nicole KidmanKidman
––
OneOne
dayday
II’’llll
flyfly
awayaway
In the airIn the airIn the airTESTING........ Of More and More Complex Vehicles and Systems !!!
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Including MODERN
FLIGHT
CONTROL
SYSTEMS
We Have Come a Long Way !!!
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Now to the Papers..... !
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Questions/ Comments ??
“May the Path You Walk
Light the Way for Those Who Follow”