adaptive flight control of a sensor guided mk-82 jdam kevin a. wise, ph.d. senior technical fellow...
TRANSCRIPT
![Page 1: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/1.jpg)
Adaptive Flight Control of a Sensor Guided MK-82 JDAM
Kevin A. Wise, Ph.D.Senior Technical Fellow
Integrated Defense Systems
SAE Mtg, 12 October 2006, Williamsburg VA
![Page 2: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/2.jpg)
2
Outline
• Joint Direct Attack Munition (JDAM)
• Laser-JDAM MK-82
• Adaptive Control Overview
• Flight Test Results
• Movies
• Open Problems in Adaptive Control of Aircraft and Weapons
• Summary
![Page 3: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/3.jpg)
3
JDAM Tail-kit
• JDAM (Joint Direct Attack Munition) is a tail-kit for “dumb” bombs that provides:– Actuated fins
– Guidance and control software
– GPS/INS navigation
– Strakes to improve aero
![Page 4: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/4.jpg)
4
BLU-109(2,000 lb)
MK-84(2,000 lb)
MK-83, BLU-110(1,000 lb) MK-82, BLU-111
(500 lb)*
The JDAM Weapon FamilyAffordable, Accurate, Autonomous, Adverse Weather
*Currently in Developmental Test and Evaluation
![Page 5: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/5.jpg)
6
Baseline JDAM Free-FlightTimeline
Sep
arat
ion
Ph
ase
Imp
act
Ph
ase
Altitude
Time
T=0•Release•Start Guidance
T=1 sec•Unlock Fins•Start Autopilot
T=3 sec•Start GPS Search
T=22-30 sec (24 sec typ)•First Navigation Update
T=1 sec to go•Drive AOA to Zero
Target Impact
Roll Over toPull Downon Target
Optimal Guidance PhaseOptimal Guidance Phase
Tra
nsf
er A
lign
men
t
![Page 6: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/6.jpg)
7
Guidance Law Control of Impact Angle
Impact Angle Commands: 30, 40, 50, 60, 70
0
5000
10000
15000
20000
0 10000 20000 30000 40000
Down Range (ft)
Alt
itu
de
(ft)
Target
Release
![Page 7: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/7.jpg)
8
Baseline Control:Feedback Gains Designed Using
Optimal Control + Projection Theory
Optimal Robust Servomechanism Linear Quadratic Regulator (RSLQR)
Augment Dynamics With Integral Control For Perfect
Command Tracking
Optimal Projection To Output Feedback Architecture
z = Az + B• ~ ~
u=-KSFx= -R-1BTPx
ATP+PA+Q-PBR-1BTP = 0~ ~~ ~
Model:
ARE:
CLAW:
S-Plane
X
XX
X
X
00
• Select Dominant Eigenstructure (r,Xr), r<n
• Project Gains (Static)K=KSFXr(CXr)-1
u=-Ky• Analyze Output Feedback
Design• Iterate LQR To Achieve
Desired Bandwidth
X
XX
• AUTOGAIN Tunes LQR Parameters
• Convergence Criteria Focus On Stability/Actuator Rates
• LQR Design Charts Describe Tuning Process
• Preserve Excellent Stability Properties Of State Feedback Using Output Feedback
• Eliminates Sensor H/W Required For State Feedback
X
X
zRn
![Page 8: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/8.jpg)
9
JDAM Greatest Hits Vol 1
Buried Target
Delay Fuze forUndergroundDetonation
Surface Target
Approved for Public Release 9 Oct 1998
![Page 9: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/9.jpg)
10
JDAM Greatest Hits Vol 2
![Page 10: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/10.jpg)
11
AOA Collapsed to Zero at Impact
MK-84 JDAM Just Before Impact
Hole Shows Fins, Strakes, Strap
Tensioning Screws, Launch Lugs
Approved for Public Release 9 Oct 1998
![Page 11: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/11.jpg)
12
Laser JDAM Program
• Laser JDAM adds a laser seeker to the baseline MK-82– Laser designator is used to paint target– Weapon flies optimal GPS/INS to fixed coordinates until
laser sensor is in range– After laser acquisition, weapon guides to target
• Added seeker hardware + raceway for wire harness cause Laser MK82 aerodynamics to differ from the baseline
• Adaptive control augmented to the baseline MK-82 autopilot for the MK82 Laser to compensate for the differences
![Page 12: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/12.jpg)
13
Adaptive Control Transitioned ToAdvanced Weapon Systems
Adaptive Control Transitioned ToAdvanced Weapon Systems
• Adaptive Control Based upon Earlier Aircraft Application–Extended to Munitions (00-02) with GST–Boeing IRAD Improvements Focus on System ID,
Implementation, and Actuator Saturation Issues–Design Retrofits Onto Existing Flight Control Laws–Flight Proven on MK-82 L-JDAM, (04-06)–Transitioned To Production JDAM
93 94 95 96 97 98 99 00 01 02 03
Technology Transition Timeline
Intelligent Flight Control System (NASA/Boeing)
F-15 ACTIVE
04
MK-82 L-JDAM
Reconfigurable Control For Tailless
Fighters (AFRL-VA/Boeing)
X-36
MK-84 JDAM
Adaptive Control For Munitions
(AFRL-MN/GST//Boeing)MK-84
AFOSR Adaptive Control of UCAVs I,II
Boeing IRAD
Adaptive Flight Control
05
• Ongoing NASA/Boeing IFCS• Other Transitions
Boeing funds MIT (Dr. A. Annaswamy) to initiate research in
V&V of adaptive systems
Boeing Collaborates With Prof. N.
Hovakimyan at VaTech on limited
actuation
• Gen I, flown 1999, 2003• Gen II, 2002 – 2006
•flight test 4th Q 2005• Gen III, 2006
06
![Page 13: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/13.jpg)
14
Adaptive Augmentation• Retrofits onto an existing autopilot (baseline A/P unchanged)
• Baseline A/P commands incremented/decremented as needed
• Uses a reference model representing the desired closed-loop dynamics
• Adaptive increment makes airframe behave like the reference model
• Adaptation dormant while airframe response matches reference model to within pre-specified tolerance
BaselineAutopilot
AdaptiveControl
ReferenceModel
OptimalGuidance
Airframe
-
+ +
+• Provides robustness to
modeling errors (aero uncertainties)
![Page 14: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/14.jpg)
15
MK-82/L Adaptive Autopilot
• Baseline JDAM autopilot– LQR PI with output projection
– High confidence design, tested extensively and in production
– Constructed using wind-tunnel data and gain-scheduling
• Adaptive augmentation– Developed for the Laser JDAM demonstration program
– Allowed baseline MK-82 autopilot (and gains) to be applied to MK-82 Laser
– Later added to the MK-82 baseline autopilot
– Autopilots of both MK-82 variants now use the same autopilot architecture and gains (including the adaptive components)
– Direct-adaptive control
– No off-line training
![Page 15: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/15.jpg)
16
Generalized Plant and Baseline ControllerOpen-Loop Dynamics
Generalized Plant and Baseline ControllerOpen-Loop Dynamics
1 2
p c
p p p p p
c c c c c
p p p
T T Tx p x c r
x A x B u f x
x A x B r t B F y
y C x D u
u K x K x K r t
21
2 2 1
0 0
0
p pp pp
c p c c p cc c
p p
DC
A Bx xu f x r
B F C A B F D Bx x
Bx x BA
y C x D u C x Du
1 2px A x B u f x B r t
control failures
moment uncertainties
guidance commands
extended system state
inner-loop commands
Tff x x x
system state controller state
![Page 16: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/16.jpg)
17
Reference Model and Adaptive ControlReference Model and Adaptive Control
• Set uncertainties to zero:
• Use baseline A/P:
• Formulate Closed – Loop System Dynamics
– defines nominal closed-loop dynamics achievable under baseline A/P– forms desired dynamics for adaptive augmentation with uncertainties
• Control:
10 , 0m m p mf x
T Tbl x ru u K x K r t
1 2 1
ref ref
T Tref x ref r ref ref
A
e
B
r fx A B K x B B K r t x B tA r
Baseline A/P Adaptive Augmentation
ˆ ˆ ˆT T T T Tbl ad x r x r pu u u K x K r t k x k r t x
ˆ ˆ ˆT T
Tx x r r pu K k x K k r t x
Reflects Desired Weapon
Dynamics
![Page 17: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/17.jpg)
18
Parameter Adaptation
• Theoretical Basis– 2nd Theorem of Lyapunov– Barbalat Lemma– Universal Approximation Property of RBF NN
• Adaptive laws yield bounded tracking performance with all signals bounded, in the presence of uncertainties, (UUB)
– using Dead-zone modification, (enforces robustness to noise) freezes adaptation if:
– using Projection Operator, (bounds adaptive parameters)
– using e – modification, (adds damping and bounds adaptive parameters)
– using μ– modification, (protects against control saturation)
1
1
1
ˆ ˆProj ,
ˆ ˆProj ,
ˆ ˆProj ,
Tx x x
Tr r z
Tp
k k x e P B
k k r t e P B
x e P B
limt
refx x C
refx t x t
Control Weapon Response Through Reference Model.
Uniform Response For Each Weapon
![Page 18: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/18.jpg)
19
600 Hz
Vehicle
AZcmd e+ +
--1/sKAZ
+
-
q
Inner Loop
KI
KP
Turn Rate qcmd
3rd OrderElliptic Filter
Fin Mixing
3rd OrderElliptic Filter
MeanFilter
1st Order LagNoise Filter
AZ
Lever Arm * s
+
-
IMU
Actuators
AZ
Cperc
3
100 Hz
a r
adeAdaptive Control cmd
z za a qIncremental Elevator
Command
Adaptive Augmentation of RSLQROptimal Pitch Autopilot
Adaptive Augmentation of RSLQROptimal Pitch Autopilot
![Page 19: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/19.jpg)
20
+-
+-
a
r
Error
-
Aycmd=0
+
KPHI
KAY
Vehicle
p 4th OrderElliptic Filter
Fin Mixing
4th OrderElliptic Filter
MeanFilter
1st Order LagNoise Filter
AY
Lever Arm * s
+
-
IMU
Actuators
r 4th OrderElliptic Filter
Transform toStability Axes
ps rs
+
-+
-
Turn Rate rcmd
3
1/s
1/s
KI
KP
600 Hz
AY
Cperc
100 Hz
Inner Loop
e
lead-lag filter
ad ada r Adaptive Control cmd
err y y s sa a p r
Incremental Ail/Rud Commands
Adaptive Augmentation ofRSLQR Optimal Roll-Yaw Autopilot
Adaptive Augmentation ofRSLQR Optimal Roll-Yaw Autopilot
![Page 20: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/20.jpg)
21
0 0.02 0.04 0.06 0.08 0.1 0.120
5
10
15
20
25
30
35
40
Mean Aero Perturbation
Nu
mb
er
of
Ca
se
s
Mean Aero Perturbation
Num
ber
of C
ases
0 0.02 0.04 0.06 0.08 0.1 0.120
5
10
15
20
25
30
35
40
Mean Aero Perturbation
Nu
mb
er
of
Ca
se
s
Mean Aero Perturbation
Num
ber
of C
ases
Simulation-Based Evaluation
• Trajectories with both open and closed-loop guidance
• Monte-Carlo Testing:– Aerodynamic uncertainties
Body forces and moments and fin moments (no fin forces)
– c.g. location uncertainty in all three axes
– Winds and turbulence
• Results show adaptive a/pprovides added robustness
Histogram of mean aerodynamic perturbationHistogram of mean aerodynamic perturbation
![Page 21: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/21.jpg)
22
Robustness to Time Delays
• Time delay sensitivity evaluated via simulations (nominal aero)– Sweep through various combinations of input and output time-delay
– Simulation time-histories “eyeballed” to determine goodness and given values based on amount of activity
• Results show more than adequate time-delay margins
5 10 15 20 255
10
15
20
25
30
35
40Nominal A/P Time-Delay Sensitivity
Output Delay (msec)
Inp
ut D
ela
y (m
sec)
5 10 15 20 255
10
15
20
25
30
35
40Adaptive A/P Time-Delay Sensitivity
Output Delay (msec)
Inp
ut D
ela
y (m
sec)
Adaptive a/p Nominal a/p
Nominal hardware time delays below minimum of chart
![Page 22: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/22.jpg)
23
Oct 04 Flight Data (1 of 2)
+30 deg -30 deg
+BETA -BETA
Bank Maneuvers
AOA
Beta
Qbar
Mach
![Page 23: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/23.jpg)
24
Oct 04 Flight Data (2 of 2)
+30 deg -30 deg
+BETA -BETA
Del
e (d
eg)
Del
a (d
eg)
Del
r (d
eg)
Roll Maneuver
Sideslip Maneuvers
![Page 24: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/24.jpg)
25
LJDAM - Jan 05 Fixed Target
![Page 25: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/25.jpg)
26
LJDAM – May 05 Moving Target
![Page 26: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/26.jpg)
27
Remote Controlled Target
LJDAM – May 05 Moving Target
![Page 27: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/27.jpg)
28
MK82 Laser SDD-G2
![Page 28: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/28.jpg)
29
MK82 Laser – 40 mph HMVMK82 Laser – 40 mph HMV
![Page 29: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/29.jpg)
30
Lessons Learned
• X-36 RESTORE Flight Test– Stabilized Unstable Airframe Under Significant Failures
– Limited Flight Envelope
• MK-84 JDAM Dynamic Inversion CLAW– Eliminated Gain Scheduling Requirements
– Used Existing Truth Model for Analysis/Comparison
• MK-82 LJDAM Augmented LQR– Retrofit Onto Baseline Control
– Significant Parameter Tuning Required For Performance
X-36
JDAM
Flight Results Have Created List of Open Problems
![Page 30: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/30.jpg)
31
Open Problems
• Reference Model Design
• Parameter Tuning Guidelines
• Adaptive Dead-zone and Learning Rates
• Adaptive Structural Mode Suppression
• Gain and Phase Margins for Adaptive Systems
• Retrofit For Legacy Systems
![Page 31: Adaptive Flight Control of a Sensor Guided MK-82 JDAM Kevin A. Wise, Ph.D. Senior Technical Fellow Integrated Defense Systems SAE Mtg, 12 October 2006,](https://reader033.vdocuments.net/reader033/viewer/2022061611/56649d145503460f949e88fc/html5/thumbnails/31.jpg)
32
Summary
• DOD Requires Robust System Behavior for Autonomous UAV and Weapon System Operation – Need for Adaptive Control
• Flight Quality Computer Hardware Now Capable of Advanced Algorithms
• Industry Actively Maturing Technology