Moscow Aviation Institute

(National Research University)

Aeronautical Engineering
Department of Flight Dynamics and Control

Course Project in Automatic control theory

Report
Feedback Control of Dynamic System

Student Rangan Srinivasan

Associate Professor, Ph. D Nikolay Markin

Moscow
2017

1
 Contents

Page
1. Introduction 3
1.1 The tasks 3
1.2 Stabilization and Control longitudinal angle motion 3
2. The Control system modeling 4
2.1 The plane linearized model 4
2.2 The actuator model 7
2.3. Plane transfer function 8

1. Introduction
1.1 The tasks
 Control System engineering.
 Linear synthesis.
 Linear analysis of aircraft longitudinal angle motion.
2
1.2 Stabilization and Control longitudinal angle motion
Aircraft oriented coordinate systems The longitudinal plane axis
V – speed vector.

α ϑ
V
ϴ
The horizon

α – attack angle, ϴ - path angle, ϑ – pitch angle

The functional diagram

3
The structural scheme

х ε δ δ* Wa у
Wkl Wnp
z
Wfb

4
Wa – aircraft transfer function;
Wnp – actuator transfer function;
Wkl – transfer function of Straight chain controller;
Wfb – transfer function of feedback controller;
x – input command of pilot;
z – input controller command;
δ – required elevator angle;
δ* – available elevator angle;
y – output;
ε – error.

2. The Control system modeling

2.1 The plane linearized model

The plane pitching

I z z   M z

The linear pitching moment

M z   M z  M z z  z  M z   M z   M z  B

 n y   ny     ny   е
    Mz
The linearization    z 
 Iz
 
V   n y
 
    z



    
Linearized equation
  z   
   z  M z  z  M z   M z   M z  B

   ny  ny
    z       е
 V V
 
    z

Summary:   z   
 ny  
 ny
   z  ( M z  M z )  z  ( M z  M z )  ( M z  M z ) B
 V V
   ny  ny
    z       е
 V V
 
    z
 6
The designations:
 P cos(  Ђе )  q  S  qS
ny  C y    
; ny  C y 
 qS  mg mg

mz  q  S  ва qSва
M z   Kz  mz ; Kz  ; M z  K z  mz ;
Jz Jz

z qSва2  
_ C y qS
M z  K  n ; K 
'
z
'
z ; M  K m ;
z
'
z z Y  ;
J zV mg
_

mg 
C y 
gC y mZ Z
CyГП  ; ny  ; Y  , n  m Cy
.
qS CyГП VC yГП Z


Data:
 z  

  n y
( M z  M z )  0.6; (M z  M z )  1.1;
 V
 
    n y  ny  ny
( M z  M z V )  0.38; V  0.038; V  0.0041

The matrix form:

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
x  Ax  Bu
y  Cx  Du

The dynamics matrix A and the control matrix B:

A  z  Δϑ B  е

 z -0.6 -1.1 0 -0.38
1 0.038 0 -0.0041


1 0 0 0



The sensor matrix C:

C  z  Δϑ
 z 1 0 0
Δnya 0 7.6 0
Δϑ 0 0 1

The direct term matrix D=0

Define Transfer function matrix:

Wz
W
W 8
Replace:

Load factor transfer function

Wny  ny W
Add:
W / z  W / Wz

Possible aircraft transfer function Wa:

Wa  Wny - transfer function for load factor (relative acceleration) stabilization;

Wa  W - transfer function for pitch stabilization;

W z- transfer function for pitch damping.

2.2 The actuator model

δ
σ εσ εω Knp ω 1
p p

Kω
9

Kδ
Required actuator transfer function:

1
Wnp 
T p  2 npTnp p  1
2
np
2

Data Parameter
Тnp 0.05
ξпр 0.55

Identify: Knp, Kδ, Kω

2.3. Plane transfer function Wa :

K C  T1 p  1
Wa 
 
p Tc2 p 2  2 cTc p  1

Data
Тс 0.15
Т1 0.7
ξс 0.35
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 Kc 5.5

Pitch Control System

ε δ У* ω у
х 1
Wпр Wa р
р
z
Кωnp

Кy
LINEAR ANALYSIS

>> Wnp=tf (1, [0.05^2 2*0.55*0.05 1])

1
Wnp = ------------------------
0.0025 s^2 + 0.055 s + 1

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Continuous-time transfer function.

>> damp(Wnp)

Eigenvalue Damping Frequency

-1.10e+01 + 1.67e+01i 5.50e-01 2.00e+01

-1.10e+01 - 1.67e+01i 5.50e-01 2.00e+01

(Frequencies expressed in rad/seconds)

>> wz=tf ([5.5*0.7 5.5], [0.15^2 2*0.35*0.15 1])

3.85 s + 5.5
wz = ------------------------
0.0225 s^2 + 0.105 s + 1

Continuous-time transfer function.

>> int=tf (1, [1 0])

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int = 1/s

Continuous-time transfer function.

>> wa=wz*int

3.85 s + 5.5
wa = --------------------------------
0.0225 s^3 + 0.105 s^2 + s

Continuous-time transfer function.

>> ltiview

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>> da=-30

da = -30

>> kd=10^(da/20)

kd = 0.0316

>> r1=wz*Wnp

3.85 s + 5.5
r1 = ------------------------------------------------------------------
5.625e-05 s^4 + 0.0015 s^3 + 0.03078 s^2 + 0.16 s + 1

Continuous-time transfer function.

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>> margin(r1)

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z1=feedback (r1, kd)

3.85 s + 5.5
z1 = --------------------------------------------------------------------------
5.625e-05 s^4 + 0.0015 s^3 + 0.03078 s^2 + 0.2817 s + 1.174

Continuous-time transfer function.

>> damp(z1)

Eigenvalue Damping Frequency

-6.85e+00 + 4.77e+00i 8.21e-01 8.34e+00

-6.85e+00 - 4.77e+00i 8.21e-01 8.34e+00
-6.49e+00 + 1.61e+01i 3.75e-01 1.73e+01
-6.49e+00 - 1.61e+01i 3.75e-01 1.73e+01

(Frequencies expressed in rad/seconds)

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>> r2=z1*int

3.85 s + 5.5
r2 = --------------------------------------------------------------------------------
5.625e-05 s^5 + 0.0015 s^4 + 0.03078 s^3 + 0.2817 s^2 + 1.174 s

Continuous-time transfer function.

>> da2=-4-12

da2 = -16

>> ky=10^(da2/20)

ky = 0.1585

>> r2k=r2*ky

0.6102 s + 0.8717
r2k = --------------------------------------------------------------------------------
5.625e-05 s^5 + 0.0015 s^4 + 0.03078 s^3 + 0.2817 s^2 + 1.174 s

Continuous-time transfer function.

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>> margin(r2k)

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>> za=feedback (r2, ky)

3.85 s + 5.5
za = -----------------------------------------------------------------------
5.625e-05 s^5 + 0.0015 s^4 + 0.03078 s^3 + 0.2817 s^2 + 1.784 s + 0.8717

Continuous-time transfer function.

>> damp(za)

Eigenvalue Damping Frequency

-5.31e-01 1.00e+00 5.31e-01

-6.49e+00 + 8.88e+00i 5.90e-01 1.10e+01
-6.49e+00 - 8.88e+00i 5.90e-01 1.10e+01
-6.58e+00 + 1.41e+01i 4.23e-01 1.55e+01
-6.58e+00 - 1.41e+01i 4.23e-01 1.55e+01

(Frequencies expressed in rad/seconds)

>> ltiview

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