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 ConferenceJune 3rd 1999

Hyatt Regency, San Diego, CA

http://www.eas.asu.edu/~aar/research/mosart/Presentations

Ack : White House , NSF, WAESO/CIMD, Boeing, Intel, Microsoft, CADSI, Knowledge Revolution, MathWorks, Lego, Xilinx, Honeywell, National Instruments, Integrated Systems, ASU CIEE.

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

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

Cartpend.exefxdbasepend.exe

RotaryPend.exe

System-specific interactive MoSART

environments

High performance: Windows/ C++

Advanced visualization tools: Direct-3D

Extensible: integration with MATLAB

User friendly

Contributions of Work

Aerodynamic Derivatives Near Hover

Sikorsky UH-60 Blackhawk

State Space Representation:

Blc - Cyclic control

Unstable: backflapping mode

Open loop poles:

…need AFCS to minimize pilot workload

0 1 0 0

= 0 Mq Mu + MBlc Blc

x -g 0 Xu x xBlc

.

.. .

...

Horizontal damping mode

Longitudinal Dynamics Near Hover

X/ Blc

.

/ Blc

General System Diagram

Horizontal Speed Controller

HorizontalSpeed Dynamics

(s+b)2 (2500)

( s + 50 )2 b2

k (s+a)s

.Desiredspeed Speed, x

-+

Cycliccontrol,

Blc

a = 2.5b = 0.6k = 0.5e-3

Pentium PC

Windows ’95/’98/NT

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.

Visual C++/ MFC

Direct-3D v3.0MATLAB Engine

v5.0

About the Program

Interactive MoSART Environment Modules

Communication Module (COM)

ProgramUser Interface

(PUI)

Simulation Module

(SIM)

Graphical Animation Module

(GAM)

Help/InstructModule(HIM)

Physical System Simulink MATLAB InternetOther

Applications

Interactive Environment Application

ActiveX

(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

Program User Interface

Program interface

(SIM)

Numerical Simulation

On-the-Fly Parameter Editing

•Fast compiled C++: >3000 Hz / 266MHz PII•Better than real-time simulation

•Plant models•Controller parameters•Reference Commands, Disturbances, Noise, etc.•Integration methods: Euler, Runge-Kutta 4, etc.

Extensibility

Simulation Module

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)

Simulation Module: Extensibility

(GAM)3D Animation

•Direct-3D•Texture-mapped, light-shaded polygons•Wireframe copters from previous simulations

•Real-Time Variable Display Window•2D Animation Window: pitch indicator•Real-time multiple-graph plotting

Visualization Tools & Indicators(SMAC)

Extensibility

Graphical Animation Module

Direct-3D standard file format

3D modeling packages: e.g. 3D Studio

Libraries of 3D objects widely available: Internet & commercial vendors.

Animation Module: Extensibility

(HIM)On-line Help

•Instructions on using the environment•Program reference

HTML / PDF Documents

•Model documentation/ references•Interactive tutorials

Help-Instruct Module

Open-loop joystick control

Closed-loop user joystick control

TLHS: Modal Analysis

TLHS: Command Following

Utility of Environment

Open-Loop Joystick Control

Undesirablelevel ofpitching.

Veryoscillatorycycliccontrol

Difficultto maintaina desiredspeed

Verydifficultto maintaina desiredpitch attitude

Closed-Loop Command Following

Smoothcycliccontrolresponse

Acceptablelevels ofpitching

Goodaccelerationand smoothspeedtransient

TLHS System Configuration

Payload

Spreader Bar

MasterSlave

-2.5 -2 -1.5 -1 -0.5 0 0.5 1-3

-2

-1

0

1

2

3TLHS open-loop poles

Real Axis

Ima

gina

ry A

xis

AVMSM ASM

TLHS System Poles

Backflapping

TetheredHelicopter

Pendular

Horizontal Spring

Vertical Spring

Average VerticalDamping

Anti-Symmetric Damping

Symmetric Damping

TLHS: Modal Analysis

TLHS: Command Following

Command: 5 ft/sec forward speed

5 ft/sec climb

TLHS: Command Following

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

… development of Facility

http://www.eas.asu.edu/~aar/research/mosart/Presentations/

VISIT:

END OF PRESENTATION

Some auxilary slides follow

Controller #1 (proportional only)

Controller #2(Dynamical Feedback)

Horizontal Speed Controller

Unstable Backflapping Mode

TLHS: Loop Transfer Function

10-2

10-1

100

101

102

10-5

10-4

10-3

10-2

10-1

100

101

102

103

w

ga

inSingular Values: Loop transfer function

10-2

10-1

100

101

102

10-3

10-2

10-1

100

101

w

ga

inSingular Values: Sensitivity transfer function

TLHS: Sensitivity

TLHS: Complementary Sensitivity

10-2

10-1

100

101

102

10-5

10-4

10-3

10-2

10-1

100

101

w

ga

inSingular Values: Complementary Sensitivity transfer function