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Chen-I Lim Richard P. Metzger,Jr. Armando A. Rodriguez

An Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Twin-Lift Helicopter System Environment. Chen-I Lim Richard P. Metzger,Jr. Armando A. Rodriguez. American Control Conference June 3 rd 1999 Hyatt Regency, San Diego, CA.

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Chen-I Lim Richard P. Metzger,Jr. Armando A. Rodriguez

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  1. An Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Twin-Lift Helicopter System Environment Chen-I Lim Richard P. Metzger,Jr. Armando A. Rodriguez American Control Conference June 3rd 1999 Hyatt Regency, San Diego, CA Ack : White House , NSF, WAESO/CIMD, Boeing, Intel, Microsoft, CADSI, Knowledge Revolution, MathWorks, Lego, Xilinx, Honeywell, National Instruments, Integrated Systems, ASU CIEE. http://www.eas.asu.edu/~aar/research/mosart/Presentations

  2. New Technologies • Affordable High Performance Computing • Hi-fidelity Simulation Capability • Simulink / MATLAB, etc… • Visual C++ • PC Animation Creation / Manipulation Technologies • 3D Modeling Software (e.g. 3D Studio, RPM D3D toolbox, etc.) • Microsoft DirectX (provides: 3D-animation, sound, video, user-input, etc.) • Object Oriented Programming (OOP) Framework • ActiveX / OLE

  3. Key Environment Features • Accelerated-time simulation • Alter model/controller: • structure • parameters (on-the-fly) • Advanced visualization: • real-time graphics • visual indicators/aids • 3D animation models • Direct user input via joystick, mouse, etc. • Integration with MATLAB and Simulink

  4. Contributions of Work System-specific interactive MoSART environments High performance: Windows/ C++ Advanced visualization tools: Direct-3D Extensible: integration with MATLAB User friendly

  5. Sikorsky UH-60 Blackhawk Aerodynamic Derivatives Near Hover

  6. Longitudinal Dynamics Near Hover . X/ Blc State Space Representation: .  0 1 0  0  = 0 MqMu  + MBlc Blc x -g 0 Xu x xBlc .. . .. . Blc - Cyclic control Open loop poles:  / Blc Unstable: backflapping mode Horizontal damping mode …need AFCS to minimize pilot workload

  7. General System Diagram

  8. Horizontal Speed Controller Cyclic control, Blc . Desired speed Speed, x Horizontal Speed Dynamics k (s+a) s + - (s+b)2 (2500) ( s + 50 )2 b2 a = 2.5 b = 0.6 k = 0.5e-3

  9. About the Program MATLAB Engine v5.0 Direct-3D v3.0 Visual C++/ MFC Windows ’95/’98/NT Pentium PC System Requirements: Pentium PC running Windows 95/NT. 32 MB RAM. Direct-3D 3.0. Recommended: Pentium II 266 w/ MMX running Windows NT 4.0. 64 MB RAM. Direct-3D 3.0.

  10. Interactive MoSART Environment Modules Interactive Environment Application Program User Interface (PUI) Simulation Module (SIM) Graphical Animation Module (GAM) Help/Instruct Module (HIM) Communication Module (COM) Physical System Simulink MATLAB Other Applications Internet ActiveX

  11. Program User Interface (PUI) User Friendly Windows ’95/NT Interface • Menus • Multiple windows • Program control toolbars Interactive System Diagram • Block diagram representation of system • Point-and-click access

  12. Program interface

  13. Simulation Module (SIM) Numerical Simulation • Fast compiled C++: >3000 Hz / 266MHz PII • Better than real-time simulation On-the-Fly Parameter Editing • Plant models • Controller parameters • Reference Commands, Disturbances, Noise, etc. • Integration methods: Euler, Runge-Kutta 4, etc. Extensibility

  14. Simulation Module: Extensibility Changing plant parameters on-the-fly Playback of externally generated simulation: e.g. MATLAB/SIMULINK Dynamic linking: MATLAB Engine ... (Edit Mode) (Playback Mode) (External-Link Mode)

  15. Graphical Animation Module (GAM) 3D Animation • Direct-3D • Texture-mapped, light-shaded polygons • Wireframe copters from previous simulations (SMAC) Visualization Tools & Indicators • Real-Time Variable Display Window • 2D Animation Window: pitch indicator • Real-time multiple-graph plotting Extensibility

  16. Animation Module: Extensibility Direct-3D standard file format 3D modeling packages: e.g. 3D Studio Libraries of 3D objects widely available: Internet & commercial vendors.

  17. Help-Instruct Module (HIM) On-line Help • Instructions on using the environment • Program reference HTML / PDF Documents • Model documentation/ references • Interactive tutorials

  18. Utility of Environment Open-loop joystick control Closed-loop user joystick control TLHS: Modal Analysis TLHS: Command Following

  19. Open-Loop Joystick Control Very oscillatory cyclic control Undesirable level of pitching. Difficult to maintain a desired speed Very difficult to maintain a desired pitch attitude

  20. Closed-Loop Command Following Acceptable levels of pitching Smooth cyclic control response Good acceleration and smooth speed transient

  21. TLHS System Configuration Master Slave Spreader Bar Payload

  22. TLHS System Poles TLHS open-loop poles 3 AVM Vertical Spring SM ASM 2 Horizontal Spring Backflapping 1 Symmetric Damping Imaginary Axis 0 Average Vertical Damping -1 Tethered Helicopter Anti-Symmetric Damping -2 Pendular -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 Real Axis

  23. TLHS: Modal Analysis

  24. TLHS: Command Following Command: 5 ft/sec forward speed 5 ft/sec climb

  25. TLHS: Command Following

  26. Future Directions • More visual indicators • Advanced SIM and GAM (e.g. TLHS) • Expanded HIM: web support, multimedia • Develop Model Documentation Feature • Enhanced integration with MATLAB / SIMULINK / LABVIEW / Excel….all are ActiveX Compatible • Integrated design & analysis environment • Develop Additional Environments MoSART-FAME … development of Facility VISIT: http://www.eas.asu.edu/~aar/research/mosart/Presentations/

  27. END OF PRESENTATION Some auxilary slides follow

  28. Horizontal Speed Controller Controller #1 (proportional only) Controller #2 (Dynamical Feedback)

  29. Unstable Backflapping Mode

  30. TLHS: Loop Transfer Function

  31. TLHS: Sensitivity

  32. TLHS: Complementary Sensitivity

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