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B-747
Five components of MACH:
1. Select controlled variables (CV) for performance/robustness.
2. Outer-loops convert pilot/guidance commands into CV commands.
•Nonlinear elements such as limiters.
3. Desired dynamics define dynamic behaviour the CVs should follow
while tracking their commands.
4. NDI attempts to solve the equations of motion for actuator commands
to satisfy CV desired rate of change.
•Control allocation logic may be necessary.
5. OBAC computes nonlinear vehicle dynamics for inversion.
•Least-squares used to approximate aerodynamic data.
64 / 71
Honeywell MACH
B-747
•Initial controller for Lockheed Martin JSF vehicle (1995-97).
•Successfully flight tested on X-38 V132.
65 / 71
Lockheed Martin
• JSF F-35
F/A-22 Raptor
Leading producer of military aircraft
F/A-22 Raptor
• Air superiority.
• Stealth and agility.
• Sustained supersonic cruise.
• YF-22 (initial demonstrator) flight control designed using eigenstructure
assignment.
• Series of pitch oscillations 13m above ground lead to aircraft impacted on
runway (1992).
• PIO due to control surface rate/position saturation, time delays.
66 / 71
Lockheed Martin - F/A-22
•F/AJS-F2F2-3f5light control law redesign
• Excellent flying qualities and lessons learned.
• Classical control combined with eigenstructure assignment.
• Removal of pitch integrator key to redesign.
• Addition of first order pitch stick command pre-filter needed to recover
flying qualities requirements.
• Classical tradeoff between pitch attitude and flight path angle bandwidth.
• Redesigned flight control law successfully achieved Level I handling
qualities for all closed-loop tracking tasks.
67 / 71
Lockheed Martin - JSF
• JSF F-35 F-35 Joint Strike Fighter (JSF).
•Conventional takeoff/landing (CTOL/AF).
•Aircraft carrier landing (CV/Navy).
•Short-takeoff/vertical landing (STOVL/Marines).
•All variants will fly same set of flight control laws.
JSF Flight control law design
•Direct mapping of flying qualities to control laws.
•Nonlinear dynamic inversion control design.
68 / 71
JSF Flight Control Laws
B-747
•Controller structure decouples flying qualities from a/c dynamics.
•Regulator/Commands implement desired.
•Effector blender optimally allocates desired acceleration commands.
•On-board model.
•Control effectiveness matrix.
•Estimated acceleration for dynamic inversion.
69 / 71
JSF- Mission X
70 / 71
Summary
• Use of multivariable control techniques to design the flight
control laws for new aircraft is standard.
• Dynamic inversion is the most widely applied multivariable
control design technique in the aircraft industry.
• Dramatic change from 15 years ago when almost all flight
control laws for aircraft were designed using classical control
techniques.
71 / 71
Acknowledgments
Rick Hyde Martin Hanel
Kevin Wise Ralph Paul
Dale Enns Dominique Briére
Chris Fielding Frank Thielecke
Dagfin Gangass Greg Walker
George Papageorgiou Prof. Alexander Efremov
Krister Fersan David Bodden
Prof. Fred Culick
This work was funded in part by the NASA Langley Cooperative
Agreement # NCC-1-337, Dr. Celeste Belcastro Program Manager,
Dr. Christine Belcastro, Technical Monitor.
1
Centre for Distributed
Automation and Control
Auto-ID Labs
ID Technologies Programme
Alan Thorne
Associate Director
Cambridge Auto ID Labs
Institute for Manufacturing
Cambridge University Engineering Department
(ajt@eng.cam.ac.uk)
2
Centre for Distributed
Automation and Control
Overview
• Auto ID Labs – A Global Research Network
• Auto ID Labs at Cambridge
• Research Areas
• Aerospace ID Technologies Programme
3
Centre for Distributed
Automation and Control
Overview
• Auto ID Labs – A Global Research Network
• Auto ID Labs at Cambridge
• Research Areas
• Aerospace ID Technologies Programme
4
Centre for Distributed
Automation and Control
Auto ID Center: 1999-2003
• What do you need to do this?
- Some way of automatic, reliable transfer and
update of information based on physical operations
- One single system for the whole supply chain
- RFID as the key element ……
　
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