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