a computer aided development procedure to test multiple ... · a computer aided development...
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May 24th 2011Corpino Viola Fioriti Medici – Neaples 20111
A Computer Aided Development Procedure to Test Multiple System
Integration
The work has been performed through a close cooperation with ALENIAAERONAUTICA staff with constant technical meetings and a continuousinformation exchange.In particular Authors wish tothank eng. Maria Airoldi, Mr. Marco Mantovani eng.Alessandro Pasquino and eng. Massimiliano Paternoster.
Sabrina CORPINO (Politecnico di Torino S.P.A.I.C. srl)Nicole VIOLA (Politecnico di Torino)
Marco FIORITI (Politecnico di Torino)Giovanni MEDICI (Politecnico di Torino)
SMATF1
May 24th 2011Corpino Viola Fioriti Medici – Neaples 20112
SMAT-F1 Project
SMAT-F1 is a research project funded by the Regione Piemonte (Italy), managed by Finpiemonte and promoted through the Promoter Board of Piedmont's Aerospace District. It is also co-funded by European fund for regional development (F.E.S.R.).
REGIONE
PIEMONTESMATF1
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SMAT-F1 Project
The system will be able to cover different potential needs, such as:–Surveillance of areas subject to natural disasters (landslides, floods, earthquakes, fires)–Border patrol–Surveillance of areas subject to human intervention.–Specific areas monitoring for prevention purposes–Territory surveillance for planning purposes
SMAT main objective is to define, design and develop an Advanced Environment Monitoring System, based on Unmanned Air Systems
SMATF1
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SMAT-F1 Project
GCS
GCS GCS
SSC
Operative
Centers
MEDIUM ALTITUDE
MEDIUM ENDURANCE
Datalink
Ground
> 12000 m
5000 m
< 100 m
UA
VG
CS
/ S
SC
GR
OU
ND
AIR
LOW ALTITUDE
SMALL ENDURANCE
HIGH ALTITUDE
HIGH ENDURANCE
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The author’s task
The author’s have been asked to develop the control laws of various systems:
1. LDG Landing gear system2. NWS Nose Wheel Steering system3. WBS Wheel Braking System (2 configurations Hydraulic Electrical)
4. FS Fuel System
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Computer AidedDevelopment Procedure
During the systems controller logic definition, performed for the SMAT-F1 project, we used a three steps development method:
1.Algorithm development through visual flow charts technique.
2.According to the flow charts a code file (written in C programming language) has been developed.
3.With the aim to demonstrate and validate the code a “Status Model” was also built.
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FlowchartsInitially the logics are developed thanks to the Flowcharts’ diagrammatic representation. In the next slides few flowchartsexamples will be shown.This diagrammatic representationimmediately gives visuallythe step-by-step solutionto a given problem.
1
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1
INCREASE
TIMERDOWN
CNTRSTR=Centered ?
SPEED < TBD ?
WARN
Y
N
Y
Y
N
N
MALFUNCTION
ROUTINE
FLOWCHART EXAMPLE
STARTING EXTENSION
To NLDGACT: ACTTR-NLDG= DOWN (act. GO DOWN)
To LLDGACT ACTTR-LLDG= DOWN (act. GO DOWN)
To RLDGACT ACTTR-RLDG=DOWN (act. GO DOWN)
LDG MOUVEMENT=DOWN
TIMERUP Reset
STARTING EXTENSION
Checklocks WARN
WARN
R
R1
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EXTENSION COMPLETED
EXTENSION IN PROGRESS
COUNTERCHECK
3
COUNTER > TBD ?
UPLOCK = NOT LOCKED UP AND DOWNLOCK = LOCKED DOWN
?
N
Y
Y
Y
N
STATLDG = DOWNLDGACT = 0LDGMOUVEMENT=0COUNTER =0
EXT FAILURE=1LDGACT = 0
FLOWCHART EXAMPLE
EXTENSION IN PROGRESS
MALFUNCTION
ROUTINE
LEGDOWNLOCKNLG = 1
LDG LIGHTS switch on
R2
R3
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ANSI CThe next step has been the recode of the flowcharts into C language code:
2
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“Status Model” development:
The third step has been the recode of the flowcharts intoMatlab® and Matlab Simulink ™ language code:
• The Status Model help to test the control laws dynamically.• The block approach keep FCC code isolated from other components.• Many different FAILURES can be simulated, among all:
o Flight Control Computer FAILURE.o UPLOCK and/or DOWNLOCK FAILURE.o SLOW ACTUATOR or TOTAL ACTUATOR’s FAILURE.o WOW FAILURE.
3
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“Status Model” Layout
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WOW
SteerAct
steer_IN
steer_OUT
Scope_IN
steer_Scope_OUT
Select Speed
48
STEERING
TOWING
STEER com
Matlab Fcn FCC
PPC
M STATI
LANDING GEAR
EMEX COM
OVER COM
GEAR COM
-K-
GROUND
Z
FUEL
PS1OutPS2Out
BPS1OutBPS2Out
SOV POS BSOV POS A
TSPROBE1PROBE2
FHSFLS
RotPos
FAILURES
FCC1 FAILFCC2 FAILFCC3 FAILUPLOCK FAILDOWNLOCK FAILACTTR SLOWACTTR FAILWOW FAILLBRK1 FAILLBRK3 FAILRBRK1 FAILRBRK3 FAILNWS FAILP1 FAILP2 FAILPS1 FAILPS2 FAILBPS1 FAILBPS2 FAIL
FAILURESPILOT COMMANDS
Clock
0
BRAKING
PARK COM
BRAKE DEML
BRAKE DEMR
BRAKE DIFF
Actuators
nldg_IN
lldg_IN
rldg_IN
nldg_OUT
lldg_OUT
rldg_OUT
Scope OUT
AIR
clock
LDGEMEX
LDGOVER
LDGGEAR
WOW
WOW
nldgO
lldgO
rldgO
EMEXSIG
OVERSIG
GEARSIG
ACTUATORS POSITION
WOWSIG
SPEED
STEER
STEERANGL
TOW
PARKBRK
DEMLBRK
DEMRBRK
DIFFBRK
“Status Model” layout:
The Simulink model high-lights the signals related toeach system:
•Each system is contained inside a mask block, for cluttering reasons.• Customized components (with dedicated icon) are easier to understand.•Through custom icons an easy to use graphical user interface can be developed.
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“Status Model” splash screen:
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“Status Model” display window overview:
LDG STATUS LIGHTS
NWS STATUS INDICATOR
WBS BRAKESPOWER
FS LIGHTS
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FUEL
SOV CLOSE
FUEL
SOV OPEN
SPEED
48
R PEDALL PEDAL
FUEL
SOV CLOSE
FUEL
SOV OPEN
SPEED
48
R PEDALL PEDAL
Command Window.
The user candynamically changethe position of Eachswitch and verify thesoftware response.Each System: LDG,NWS, WBS, and FScan be adjusted byclicking on theproper mask.
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RotPos
12
FLS
11
FHS
10
PROBE2
9
PROBE1
8
TS
7
SOV POS A
6
SOV POS B
5
BPS2Out
4
BPS1Out
3
PS2Out
2
PS1Out
1round
rotaryInput
1
Tank
Out1
Out2
Out3
Select Temperature °C
-24
SOVOPEN
> 0.95
SOVCOM
1SOVCLOSE
< 0.05SOV Valve
SOV
PS2
PS1
P2 Pos
2
P2 Com
P2
P1 Pos
1
P1 Com
P1
OPEN
OFF
0
Multiport
Switch
MinMax
max
MasterBMasterA
BPS2O
BPS1O
PS2O
P1C
PS1O
P2C
FuelQuantity
ceil
FUEL LOW
< 0.1
FUEL FULL
> 0.95
double
double
double
double
CLOSED BPS2
BPS1
“Fuel System” Simulink model.
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“Status Model” Ouputs
The user can verify the simulation results throughvarious post-processing tools:
• Plots: reports the most important variablessignals vs. time.
• Logs: collects the messages that are produced bythe FCCs (Flight Control Computers).
May 24th 2011Corpino Viola Fioriti Medici – Neaples 201119
05
1015
2025
3035
4045
0 0.5 1
EMEXSIG
05
1015
2025
3035
4045
0 0.5 1
OVERSIG
05
1015
2025
3035
4045
−1 0 1
GEARSIG
05
1015
2025
3035
4045
0 0.5 1
ACTUATORS POSITION
05
1015
2025
3035
4045
−1 0 1
WOWSIG
05
1015
2025
3035
4045
−1 0 1
STEER ANGLE
Time [s]
Normal Takeoff and Landing
“Status Model” plot example:
•Parking•Towing•Steer & Brakes•Taxing•Takeoff•Retraction•Extension•Dyn BIT•Steer BIT•Landing
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“Status Model” log example:
•LDG Retraction•LDG Extension
-+ PILOT COMMAND TCS GEAR UP +-
FCC1 ACTTR-NLDG=GO-UP
FCC1 ACTTR-LLDG=GO-UP
FCC1 ACTTR-RLDG=GO-UP
0.05
FCC2 ARM-REL-STR=NOT-ARM
FCC2 Stering System Powered OFF
0.40
UPLCKNLDG=LOCKED-UP
INTUPLCKNLDG=LOCKED-UP
1.90
UPLCKLLDG=LOCKED-UP
INTUPLCKLLDG=LOCKED-UP
2.00
UPLCKRLDG=LOCKED-UP
INTUPLCKRLDG=LOCKED-UP
GEAR IS UP
FCC2 ARM-REL-LDG=NOT-ARM and Check it
-+ PILOT COMMAND TCS GEAR DOWN +-
FCC1 ACTTR-NLDG=GO-DOWN
FCC1 ACTTR-LLDG=GO-DOWN
FCC1 ACTTR-RLDG=GO-DOWN
0.00
DOLCKNLDG=LOCKED-DOWN
INTDOLCKNLDG=LOCKED-DOWN
1.80
DOLCKNLDG=LOCKED-DOWN
INTDOLCKNLDG=LOCKED-DOWN
1.85
DOLCKLLDG=LOCKED-DOWN
INTDOLCKLLDG=LOCKED-DOWN
1.90
DOLCKLLDG=LOCKED-DOWN
INTDOLCKLLDG=LOCKED-DOWN
1.95
DOLCKRLDG=LOCKED-DOWN
INTDOLCKRLDG=LOCKED-DOWN
GEAR IS DOWN
FCC2 ARM-REL-LDG=NOT-ARM and Check it
FCC2 ARM-REL-STR=ARM
FCC2 Stering System Powered ON
Dynamic Actuator Test
Dynamic Test Succeded
Center Steer Command Sent
Center Steer Command Received
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STATUS MODEL MOVIE:
NORMAL TAKEOFF AND
LANDING
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Conclusions
The authors developed a Computer Aided DevelopmentProcedure to Test Multiple System Integration.
1.The modular nature of the Status Model enables thecreation of a customized blocks library.
2.Various Failure scenarios can be simulated and tested.
3.The tool allows faster and more reliable controller logicsdevelopment.
4.It prooved to be effective helping the specialist to releaseadequate FRD thanks to the three step procedure.
SMATF1
May 24th 2011Corpino Viola Fioriti Medici – Neaples 201123
THANK YOU, ANY QUESTION?
SMATF1