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• Solution can get very complex in traditional systems
• requires mode switching & crew alerting
• Normal Load Factor (nz):
• automatic modes: |nz| < .1 for passenger comfort
• FBW manual mode:
• 0 < nz < (nz)structural limit
• low speed: nz < (nz) α-limit ; (nz) α-limit = (Ve/Vestall-1g)2
• Angle of Attack (α) limit: implicit if nz and Airspeed protected
• Bank Angle: bank limit depends on mode & flight condition
• Sideslip (β) limiting: possible in some FBW manual designs

TECS/THCS Mode Control Panel Concept
with Integrated ATC data link Functions
Advanced Displays
TECS Digital FCC / Throttle /FADEC
Interface Concept
Weight
FCC
Engine T
FADEC
Engine T
FADEC
IO
Engine
failure
logic
Tcmd
throttles
s s A to D
servo
No of
oper
engines
Total Heading
Lateral-Directional Control Strategy
Design approach analogous to TECS:
• aileron control sum of heading and sideslip errors
• rudder controls difference between heading and sideslip errors
Resulting Total Heading Control System (THCS) algorithm provides
• full-time coordinated innerloop roll/yaw control (THCS Core)
• yaw damping
• turn coordination
• engine-out thrust asymmetry compensation / δr & δa trim
• envelope protection (bank angle & sideslip)
• all outerloop modes
• automatic modes (Heading/Track angle, LOC, LNAV)
• augmented manual mode
• decrab / flat turn capability
• consistent performance - all modes / all flight conditions
THCS Functional Architecture
and Mode Hierarchy
Roll Attitude
Command
Generalized
Roll Attitude
and Yaw
Rate
Commands
Coordination
+
+
+_
+_
+_
+_
+_ 􀁄 􀁄 􀁄
Drift
Angle
Corr
Heading
Command
􀁄 􀁄 􀁄
􀁄 􀁄 􀁄
L-Nav
Loc
Kψ
Sideslip Kβ
Command
ψ
β
􀁄 􀁄
􀁄
􀁄
Ky
V
Yaw Rate
Command
ψ
c
β c
Track Angle
Command
ψ .
β .
..
Cross Track
Deviation
Cross Track
Velocity Cmd
Track Angle
Command
THCS Core Algorithm
+ _+
_
+
_ +
_
+
_
+
+
Kψ
Kβ
f(q )c
g
VTrue
g
VTrue
VTrue
g
KRI
S
KYI
S
Kφ
Kψ􀀅
K p
+
_
φ p
ψ􀀅
ψ􀀅
+
_
ψ
ψc
+
_
β
β
c
Airplane independent design Airplane tailored design
f(q )c
Actuator
Actuator
δa
δr
φc
􀀅ψc
􀀅 βc
il
􀀅 β
􀁄 􀁄
􀁄
􀁄
-1
-1
ψ􀀅col
TECS and THCS Application on Condor

 

 

 

 

 

 

 

The Condor Team
Fly-By-Wire Design
• Definition: Airplane control concept whereby surfaces commanded
through electrical wires
• Sought benefits:
– Weight reduction – elimonation of mechanical systems
– Drag reduction - Optimized aerodynamic performance by Relaxed
Static Stability
– Standardized / improved handling qualities through SAS and CAS
– Cost reductions
• Improved fuel economy
• Reduced pilot training (common type rating)
• Design commonality/design cycle time reduction
• Reduced maintenance
FBW Functional Architecture
throttle
actuator
engine
δe
Airplane
ΔT
FLIGHT
CONTROL
COMPUTER
display
Inter
face
trim
up
down
actuator δS
stick
feel system
FBW Design Opportunities
• simplify operations concept
• simplify hardware architecture and design
• shedding historically accumulated “baggage”,
e.g. design features typically belonging to
previous generations of technologies:
• complex feel systems
• column, wheel back-drive systems
　
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