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Homework 02

The document describes designing an autopilot for an aircraft to avoid obstacles by changing altitude. It provides the dynamics equations and metrics for evaluating a commanded 100m altitude change with bounds on rise time, overshoot, and steady-state error. The tasks are to: 1) Design a PID controller using nested loops to control altitude, pitch, and pitch rate. 2) Design an LQR controller assuming full state feedback. The report should include root locus plots, discussions of design iterations, and plots of closed-loop performance.

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Khan Jan
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47 views

Homework 02

The document describes designing an autopilot for an aircraft to avoid obstacles by changing altitude. It provides the dynamics equations and metrics for evaluating a commanded 100m altitude change with bounds on rise time, overshoot, and steady-state error. The tasks are to: 1) Design a PID controller using nested loops to control altitude, pitch, and pitch rate. 2) Design an LQR controller assuming full state feedback. The report should include root locus plots, discussions of design iterations, and plots of closed-loop performance.

Uploaded by

Khan Jan
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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EML5311 : Homework02

1 Introduction

You are tasked with designing an autopilot for an Avanti S 80mm EDF. Specifically, you
will focus on automating the change in altitude for obstacle avoidance. You must consider
the flight dynamics of the aircraft along with the dynamics of the actuator that moves the
elevator and generates the required moment.

The scenario used to evaluate the autopilot begins with the Avanti S traveling straight-and-
level at 50 miles-per-hour and an altitude of 100 m. The aircraft is part of a fleet that are
tasked with surveillance of an area by flying over the same location but having different
altitude. The Avanti S needs to increase altitude by 100 m to avoid a building; however,
it must not increase by more than 120 m or it will enter the airspace of the aircraft flying
above it.

Define a set of variables for the dynamics.


q : measured pitch rate (deg/s)
qc : commanded pitch rate (deg/s)
θ : measured pitch angle (deg/s)
θc : commanded pitch angle (deg)
h : measured altitude (m)
hc : commanded altitude (m)
δ : elevator deflection angle (deg)
δc : commanded elevator deflection angle (deg)
The equations of motion are written in a special format called a state-space model. This
format simply changes 1 nth -order ODE into a set of n 1st -order ODEs.

      
u̇ −0.0064 9.2550 0 −9.8100 −0.8960 u −0.0520

 α̇  
  −0.0234 −5.1414 0 0 0.9519 
 α  
  0.1016 


 ḣ =
  0 25.0000 0 −24.9836 0 
 h +
  0 δ

 θ̇   0 0 0 0 1.0000  θ   0 
q̇ 0.7047 −485.6225 0 0 −31.4645 q 116.3000
Assume the elevator, which is the only control effector, has an actuator.

20
A=
s + 20

Several metrics are identified for a commanded change in altitude of 100 m

metric bound
rise time 0.8 < tr < 1.2 s
overshoot < 15%
steady-state error ess < 5%

2 Tasks

Use 2 techniques to design an autopilot for altitude change.

1. Design a PID controller using 3 nested loops.

✲ h
hc ✲ ✲ Kh ✲ ✲ Kθ ✲ ✲ Kq ✲ 20 ✲ P ✲
✲ θ
s+20
✻ ✻ ✻ q

The concept notes that if altitude of h is different from the altitude command of hc ,
then that altitude error is used to comand a pitch angle of θc through Kh . If the
pitch angle is incorrect, then that pitch angle error is used to command a pitch rate
of qc through Kθ . If the pitch rate is incorrect, then that pitch rate error is used to
command the elevator of δc through Kq .

2. Design an LQR controller assuming full-state feedback.

Submit a small report describing your control design. Show root-locus plots used for the
PID design. Discussing any iterations over the PID gains or the QR matrices. Show plots
of the closed-loop performances.

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