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ME 550 MODERN CONTROL THEORY

Aircraft Pitch: System Modeling

SUBMITTED BY RAVI VARMA VELUKONDA DEPARTMENT OF MECHANICAL ENGINEERING SOUTHERN ILLINOIS UNIVERSITY EDWARDSVILLE

12/09/2013

ABSTRACT The aim of this study is to design an autopilot which controls aircraft pitch. Aircraft pitch angle, is procured by deflecting elevator to angle of Aircraft pitch is governed by longitudinal dynamics. Considering the aircraft is flying at steady-cruise at constant altitude and velocity, the vicissitude in the pitch angle will not transmute the velocity of the aircraft. In this survey, we will design a feedback controller so that for an input of a step command of pitch angle the authentic pitch angle overshoots less than 10%, has a elevate time of less than 2 seconds, and a steadystate error of less than 2%. This report summarizes the analysis and design procedures, design consideration, mat lab program utilized for calculation and simulation.

Contents: 1. Introduction 2. Physical setup and system of equations 3. Transfer function and state-space models 4. Design requirements and 5. MATLAB representation 6. References

INTRODUCTION In this study, a controller for the pitch angle of the aircraft regarding to the elevator deflection angle is discussed. The way how the elevator angle affects pitching motion of the aircraft is pointed out, as well as, how a pitch controller can be applied for the aircraft to reach certain pitch angle. The longitudinal stability of an aircraft refers to the aircraft's stability in the pitching plane - the plane which describes the position of the aircraft's nose in relation to its tail and the horizon. If an aircraft is longitudinally stable, a small increase or decrease in elevator deflection will cause the pitching moment on the aircraft to change. Physical setup and system of equations: The governing equations of motion of aircraft has a set six non-linear differential equations. Assuming certain assumptions, however, they can be decoupled and linearized into longitudinal and lateral equations. Aircraft pitch is governed by longitudinal dynamics. Here, we design an autopilot that controls pitch of an aircraft. The coordinate axes and aerodynamic forces (lift, thrust, drag, weight) acting on the aircraft are shown in the figure below.

Assuming that aircraft is at steady-cruise at constant altitude and velocity, the aerodynamic forces thrust balances drag and lift balances weight in x- and y- directions. We also assume that the change in aircraft pitch will not affect the speed of aircraft under any circumstances, which reduces the problem a bit. With these assumptions, the longitudinal equations of motion for the aircraft can be presented as follows: .. (1) .. (2) The pitch of the aircraft is controlled by deflection of elevator, here the input is elevator deflection angle, , output will pitch angle of aircraft, .

Transfer function and state-space model: Here are some numerical value to help simplify modelling equations shown above. (3) (4) (4) (5) (5) These values are obtained from the data of Boeings commercial aircraft.

1. Transfer function: In order to find the transfer function, we need to apply Laplace transformation to above modelling equations. Recall, to find a transfer function, zero initial conditions must be assumed. Laplace transformation of above equations are represented below. (6) (7) (8) After simplifying it, we obtain the following transfer function (9) 2. State space: Realizing the fact that modelling functions are presented in statevariable form, we can rewrite in matrices form.

(10) Since our output is pitch angle, the output equation is the following.

(11)

Design requirements: Next step is to choose some design criteria. Here we design a feedback controller so that in response of a command of pitch angle the actual pitch angle overshoots less than 10%, has a rise time of less than 2

seconds, a settling time of less than 10 seconds, and a steady-state error of less than 2%. For example, if the reference is 0.2 radians (11 degrees), then the pitch angle will not exceed approximately 0.22 rad, will rise from 0.02 rad to 0.18 rad within 2 seconds, will settle to within 2% of its steady-state value within 10 seconds, and will settle between 0.196 and 0.204 radians in steady-state. In summary, the design requirements are the following.

Overshoot less than 10% Rise time less than 2 seconds Settling time less than 10 seconds Steady-state error less than 2%

MATLAB Representation: We now represent the system using MATLAB. Coding in the command window will generate an open-loop transfer function model stated above. s = tf( s ); P_pitch = (1.151*s+0.1774)/ (s^3+0.739*s^2+0.921*s) P_pitch = 1.151 s + 0.1774 ----------------------S^3 + 0.739 s^2 + .921 s Continuous-time transfer function. To generate the state-space model described above, instead enter the following commands at the command line. A = [-0.33 56.7 0; -0.0139 -0.426 0; 0 56.7 0]; B = [0.232; 0.0203; 0]; C = [0 0 1]; D = [0]; Pitch_ss = ss(A, B, C, D)

MATLAB OUTPUT; pitch_ss = a= x1 x1 -0.313 x2 56.7 x3 0 0 0

x2 -0.0139 -0.426 x3 b= u1 x1 0.232 x2 0.0203 x3 c= x1 x2 x3 y1 0 0 1 0 0 56.7

d= u1 y1 0 Continuous-time state-space model.

References: 1. J. D. Anderson, Aircraft Performance and Design, 1998. 2. Modern Control Theory Third Edition by L.Borgan, ph.D 3. Modern Control Theory Course Notes by Dr. Keqin Gu, ph.D 4. Clark, R.L., Saunders, W.R., Gibbs, G.P., Adaptive Structures dynamics and Control, Wiley, New York, 1998. 5. Anonymous, MATLAB Users Guide, MathWorks, Natick, MA, 2000.

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