Category: Aircraft Flight Dynamics

Aircraft flight dynamics for fixed wing and rotary wing aircraft. Modeling, simulation, performance analysis, static stability and control analysis, dynamic stability analysis, control design.

Research

Fault Tolerant Air Data System

An integrated fault detection, identification, isolation, and accommodation scheme is proposed for an Air Data System with airspeed and angle of attack sensors. The system uses information from the inertial measurement unit, available air data sensors, and an aircraft digital twin model that provides virtual measurements of its aerodynamic and propulsion forces to feed a nonlinear estimator capable of detecting air sensor failure and suppressing sensor fault effects on the aircraft air data prediction.

UAV for research in Flight Mechanics and Control

A UAV was developed for research in Flight Mechanics and Flight Controls. The project involves integrating sensors with an embedded processor in a small fixed-wing aircraft and creating a flexible software infrastructure for implementing and testing flight control algorithms. The sensor suite consists of an IMU, a magnetometer, a GPS, a pitot tube with a differential pressure sensor, alpha and beta vanes, control surface position sensors, and a sensor for engine RPM. An actuator interface and RF communication link are also included for telecommand and telemetry.

Flight Data Recorder for acquisition of flight test data in a ultra light aircraft

A flight data recording system was developed for an ultralight aircraft. The aircraft was instrumented for recording data from certification flight tests and mathematical aircraft modeling.

Structure Manager, a software infrastructure for the implementation of Real Time Control Systems

Structure manager software in a Eclipse IDE

A software infrastructure for implementing real-time control systems has been developed in C language. The infrastructure, combined with a sound programming methodology (object-oriented), enables some powerful features in the real-time application, accelerating the production cycle of the software. The Structure Manager comprises a library that implements all the infrastructure functionality and a tool to automatically generate code at compilation time that connects the infrastructure with the application.

Andean Condor UAV

The Andean Condor unmanned aerial system is a tactical UAV for surveillance, exploration, reconnaissance, and intelligence. Possible applications in photogrammetry and precision agriculture are also considered. This development resulted from the project “Development of a fixed-wing unmanned aerial system for short-range missions – Aura Jr” (2007-2009).

Software for modeling, analysis and design of a fixed wing aircraft

The software has been developed to model, analyze, and design a fixed-wing aircraft. The software comprises a set of functions written in the Matlab® language and is fully compatible with Octave and a collection of simulation models developed in Simulink® that include the simulation of the nonlinear aircraft model with the flight control system. Several versions of the simulation model are more refined than others.

VISOR 3 ROV

VISOR 3 is an ROV developed by the Excuela Naval Almirante Padilla (ENAP) and Universidad Pontificia Bolivariana (UPB), through the research groups in Naval Engineering (GIIN), Automation and Design A+D and the Institute of Energy and Thermodynamics (IET), with the support of Colciencias. The ROV is an underwater robotic platform for inspecting port structures and hulls of transport vessels to comply with the ISPS code.

Aura Jr UAV

Aura Jr was a small UAV for short-range missions, the first UAV developed at the Universidad Pontificia Bolivariana. The prototype was a technology demonstrator for the project “Research and Design of an Automatic Remote Inspection System for Electric Power Transmission Lines” (2004-2005) sponsored by Interconectado Eléctrica SA (ISA), Colciencias and Universidad Pontificia Bolivariana. It led to another project, “Development of a fixed-wing unmanned aerial system for short-range missions – Aura Jr” (2007-2009).

Preliminary design of Aura UAV for monitoring of Power Transmission Lines

The Aura UAV’s preliminary design resulted from the project “Research and Design of an Automatic Remote Inspection System for Electric Power Transmission Lines” (2004-2005). Its primary objective was to investigate and design an autonomous inspection system prototype for high and extra-high-voltage transmission lines.

Adaptive Mode Transition Control Architecture With an Application to Unmanned Aerial Vehicles

A new approach to unmanned aerial vehicles’ adaptive mode transition control was proposed. The proposed architecture consists of three levels: mission planning routines are at the highest level, where the information about waypoints the vehicle must follow is processed; the mid-level controller uses a trajectory-planning component to coordinate the task execution and provides set points for low-level stabilizing controllers. The adaptive mode-transitioning control algorithm resides at the lowest level of the hierarchy consisting of a mode-transitioning controller and the accompanying adaptation mechanism. A flight demonstration was done as part of a Software Enabled Control research program (sponsored by DARPA) to validate the control algorithms using the GTmax, the Georgia Tech UAV testbed.

VISOR 2 ROV

VISOR 2 was an ROV developed as an underwater vehicle with dual control (1998-2000). Julio Cesar Correa Rodríguez, Luis Benigno Gutiérrez Zea, and Laszlo Jurko led the project.

Neural Network Control of a Flexible Link

A neural network (NN) tracking controller was implemented on a single flexible link, and the performance results of the neural network controller were compared to that of proportional derivative (PD) and proportional integral derivative (PID) standard controllers. The NN controller comprises an outer PD tracking loop, a singular perturbation inner loop to stabilize the fast flexible-mode dynamics, and an NN inner loop to feedback linearize the slow pointing dynamics. It is shown that the tracking performance of the NN controller is far better than that of the PD or PID standard controllers. No offline training or learning was needed for the NN. An extra friction term was added to the tests to demonstrate the ability of the NN to learn unmodeled nonlinear dynamics.

Aircraft Flight Control Aircraft Flight Dynamics Aircraft Flight Mechanics Control Theory Embedded Systems Real-time Control Systems UAV Unmanned Aerial Vehicles

Preliminary design of Aura UAV for monitoring of Power Transmission Lines

Summary

Nowadays, inspection of electric infrastructure is a key application of aerial robotics. The project “Research and Design of an Automatic Remote Inspection System for Electric Power Transmission Lines” (2004-2005) had as its main objective to investigate and design the prototype of an autonomous inspection system for high and extra high voltage transmission lines. For this purpose, it was necessary to evaluate the possible technological alternatives, based on the characterization of the environment and the optimization of resources and functions. The project was sponsored by Interconeccción Eléctrica SA (ISA), Colciencias and Universidad Pontificia Bolivariana. After some investigation, it was desided that the best alternative was a fixed wing unmanned aerial vehicle (UAV). The preliminary and basic design of the UAV, for medium range inspection missions was done. Speed, endurance, altitude ceiling, payload capacity and maximum take off weight are key features considered on aircraft design. The main vehicle subsystems like avionics, propulsion, structure, remote inspection elements, telecommunications, emergency and recovery were selected. Many of these subsystems were designed and selected according to specific mission requirements.

Gallery

Presentation

Related Publications

[1] P. A. Ortiz and L. B. Gutiérrez, “Modelo matemático para un vehículo aéreo no tripulado de ala fija, usando un estimador de parámetros ’filtro de Kalman’,” TecnoLógicas, vol. 22, pp. 75–98, 2009. Available: https://repositorio.itm.edu.co/handle/20.500.12622/827, ISSN: 1367-5788. pdf

[2] L. Cardona, M. Osorio, and L. B. Gutiérrez, “Sistema de navegación para vehículos no tripulados,” in Memorias XIII Congreso Latinoamericano de Control Automatico, (Mérida, Venezuela), IFAC, Noviembre 25-28, 2008. ISBN: 978-980-11-1224-2. pdf

[3] L. B. Gutiérrez, “Sistemas no tripulados,” in Memorias IV Colombian IEEE Workshop of Robotics and Automation, (Cali, Colombia), IEEE Colombia, Agosto 13-15, 2008. ISBN: 978958-8122-75-5. Presentation

[4] C. A. Zuluaga and L. B. Gutiérrez, “Infraestructura de simulacion para vehiculos no tripulados,” in Memorias VII Congreso de la Asociación Colombiana de Automática, (Cali, Colombia), Asociación Colombiana de Automática, Marzo 21-24, 2007. ISBN: 9789484408. pdf

[5] J. F. Franco and L. B. Gutiérrez, “Análisis de dominio de un marco de tiempo real para vehiculos autonomos no tripulados,” in Memorias VII Congreso de la Asociación Colombiana de Automática, (Cali, Colombia), Asociación Colombiana de Automática, Marzo 21-24, 2007. ISBN: 9789484408. pdfParagraphParagraph

[6] J. M. Vásquez, E. A. Taborda, and L. B. Gutiérrez, “Diseno básico de un vehículo aéreo no tripulado de ala fija para misiones de inspección remota de rango medio,” in CWRA 2006 IEEE Colombian Workshop on Robotics and Automation, (Universidad de San Buenaventura, Bogota, Colombia), IEEE Colombia, Agosto 18, 2006. ISBN: 978-958-97921-9-3. pdf

[7] L. B. Gutiérrez and J. M. Vásquez, “Diseno preliminar y básico de un sistema para inspección remota de infraestructura eléctrica,” in X Jornadas de Investigacion, Innovar para Transformar, (Universidad Pontificia Bolivariana, Medellı́n, Colombia), pp. 382–393, UPB, Octubre 13-14, 2005. ISSN: 1794-0664. pdf

[8] L. B. Gutiérrez Z., M. Osorio Cárdenas, and J. A. Álvarez J., “Sistema de guía, navegación y control para aeronaves autónomas,” in CWRA 2005 IEEE Colombian Workshop on Robotics and Automation, (Universidad Javeriana, Bogota, Colombia), IEEE Colombia, Agosto 11, 2005. ISBN: 958-695-182-0. pdf

Aircraft Flight Control Aircraft Flight Dynamics Aircraft Flight Mechanics Control Theory UAV Unmanned Aerial Vehicles

Software for modeling, analysis and design of a fixed wing aircraft

Summary

Software has been developed for the modeling, analysis and design of a fixed wing aircraft. The software is composed of a set of functions written in the Matlab® m language and is fully compatible with Octave. There is also a set of simulation models developed in Simulink® that include the simulation of the aircraft non-linear model with the flight control system. There are several versions of the simulation model, some more refined than others.

Aerodynamic modeling

A method was developed for the aerodynamic modeling of a fixed-wing aircraft. It is based on an extended lifting line theory method that accounts for viscous effects using local non-linear coefficients for each wing section. The method considers the effective angle of attack and the changes in dynamic pressure in each wing section, based on the relative velocity and the relative angular velocity of the aircraft with respect to the sorounding air. Each part of the aircraft is modeled separately and the results are consolidated for the entire aircraft including the downwash effect of on the tail.

Propulsion system modeling

Models have been developed for aircraft propulsion systems: models for reciprocating engines, electric motors and propellers. These models have been used to evaluate the performance of the propulsion system and the performance of complete aircraft with a specific propulsion system. They are also used in simulation models for specific aircraft, including small UAVs.

Static stability and control analysis

The aerodynamic forces and moments produced by the wing-fuselage and the tail have been modeled and then consolidated in the static analysis, calculating the equilibrium conditions for steady rectilinear flight, steady turn flight, steady pullup/pull over and steady roll. The effectiveness of the aerodynamic control surfaces has been evaluated in these maneuvers based on the CG of the aircraft. The static margin has been evaluated to determine the proper range of aircraft CG positions that allows stable flight with sufficient control authority.

Dynamic stability analysis

The non-linear model for the fixed-wing aircraft has been linearized and the dynamic modes have been calculated based on the values of the linearized model. This analysis makes it possible to establish the dynamic stability of the aircraft and evaluate the dynamic behavior parameters for the dynamic modes of the aircraft. Simulations have been developed to corroborate the dynamic modes with the behavior of the non-linear model.

Performance analysis

Software has been developed to estimate the performance of a fixed wing aircraft. The estimation of the performance parameters is based on the complete non-linear model of the aircraft instead of using approximate formulas. Performance can be assessed at specified altitudes and with a specified aircraft weight.

Simulation model for a fixed wing aircraft

A complete non-linear simulation model has been developed for a fixed-wing aircraft. The model has been used to evaluate the dynamic behavior of the aircraft.

Aircraft flight control design

Software has been developed to help design the flight control system of a fixed wing aircraft. The design of a multi-loop autopilot has been carried out, and the subsequent simulation with the non-linear aircraft model has corroborated the effectiveness of the closed-loop control system.

Aircraft flight control simulation

The closed-loop control system simulation model was implemented using the full non-linear aircraft model. The simulation results allow evaluating the performance and robustness of the designed control system.

Aircraft models in Simulink®

A set of simulation models has been developed in Simulink® that include the simulation of the aircraft non-linear model with the flight control system. There are several versions of the simulation model, some more refined than others.

Aircraft Flight Control Aircraft Flight Dynamics Aircraft Flight Mechanics Embedded Systems Intelligent Control Systems

Flight Data Recorder for acquisition of flight test data in a ultra light aircraft

Summary

A flight data recording system was developed for an ultralight aircraft. The aircraft was instrumented to record data from certification flight tests and for mathematical modeling of the aircraft.
A set of instruments was integrated:

AHRS module that includes an IMU and a GPS fused with a Kalman filter to obtain the estimated values of the position, velocity and attitude of the aircraft.
Air data system consisting of a five-hole pitot tube and air data processor that estimates the values of air speed and the angles of attack and sideslip.
An eight-channel high resolution analog to digital converter (24-bit), in conjunction with potentiometric sensors for measuring the position of the aircraft controls.
An embedded processor with high computational and storage capacity, with Intel i7 dual-core processor, 16GB of RAM, 512GB SSD. This processor runs the software developed for the acquisition and processing of data from sensors in real time on the real-time operating system RT Linux.
An embedded processor integrated with the digital analog converter, as an intelligent sensor of the position of the aircraft controls.

The data acquisition and processing software was developed to record the data received from the sensors in real time, with a flexible command interface that allows easy configuration, programming and implementation of the necessary communication links according to the required tests. This software was developed in C, as a service in the Linux RT operating system that starts automatically when the computer is turned on.
The equipment was integrated into a compact box that includes the processor, a battery pack, the AHRS system, an on/off switch, a terminal block for the potentiometric sensors of the aircraft controls, connectors for the batteries and the air data processor that is located near the pitot tube installation.
The equipment was installed and flight tested on a QuickSilver GT500 ultralight aircraft and is expected to be used in further research on mathematical modeling and identification of aircraft parameters.

Presentation

Gallery

Aircraft Flight Control Aircraft Flight Dynamics Aircraft Flight Mechanics Embedded Systems Real-time Control Systems Robotics UAV Unmanned Aerial Vehicles

UAV for research in Flight Mechanics and Control

Summary

Research in flight mechanics and control requires good mathematical models for the aircraft under study. In particular, for fixed wing aircraft is well documented in the literature the mathematical model based on the equations of motion that are stated assuming that the aircraft is a rigid body, but the heart of these equations that determine the actual dynamic behavior of the aircraft is the knowledge of a good model for propulsive and aerodynamic forces and moments. There are approximate analytical methods to model propulsive and aerodynamic forces and moments but all those methods require validation and it is difficult to model all of the nonlinear behavior involved. It was recognized that to leverage the research if flight mechanics and control it is fundamental to get good mathematical models based on actual flight data. For that purpose many UAV test beds have been implemented. Some of them are reported in the literature, see for instance. In this work the hardware selection and integration, and the software development for a test bed based on a small fixed wing UAV is presented.

Presentation

Gallery

Related Publication

L. B. Gutiérrez, “Instrumentation of a small fixed wing UAV for research in flight mechanics and control.” Poster presentation in the 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) (Medellı́n, Colombia), October 15-18, 2019. pdf

Aircraft Flight Control Aircraft Flight Dynamics Aircraft Flight Mechanics Control Theory Fault Tolerant Control Intelligent Control Systems

Fault Tolerant Air Data System

Summary

An integrated airspeed and angle of attack sensor failure detection identification, isolation and accommodation scheme is proposed. The system uses information from the inertial measurement unit, available air data sensors, and an aircraft digital twin that provides virtual measurements of the aircraft’s aerodynamic and propulsion forces to feed a nonlinear estimator capable of detecting air sensor failure and suppress its effect on the aircraft air data prediction. The novelty of the proposed approach is that sensor fault detection, identification, isolation, and accommodation are integrated into a feedback scheme where the information produced by fault detection is used to modulate the noise covariance of faulty sensors so that the nonlinear estimator is able to maintain the air data estimate with a small error despite the presence of various failures in the air data sensors.
The system was developed and tested in simulation. A Matlab/Simulink Ryan Navion aircraft simulation model was developed using flight test and wind tunnel data from Princeton University Flight Research Laboratory. Matlab/Simulink sensor models were developed using actual measured sensor data. A Dryden wind turbulence model was used to test the system against atmospheric perturbations. Flight simulations included climb, cruise, turns and descent maneuvers.
Independent and joint Pitot tube and angle of attack vane sensor failures were simulated. Simulation results showed that the fault tolerant estimation air data scheme is very accurate and robust against undetected or false alarm failures.

Short presentation

Related publications

[1] O. Hazbón, L. Gutiérrez, C. Bil, M. Napolitano, and M. L. Fravolini, Advances in Transdisciplinary Engineering, vol. 10, ch. Digital Twin Concept for Aircraft Sensor Failure, pp. 370–379. IOS Press, 2019. Available: http://ebooks.iospress.nl/volumearticle/52930, ISBN: 978-164368-020-0 (print) — 978-1-64368-021-7 (online), doi: https://doi.org/10.3233/ATDE190143. pdf

[2] O. Hazbón, L. Gutiérrez, C. Bil, M. Napolitano, and M. Fravolini, “Digital twin concept for aircraft system failure detection and correction,” in AIAA Aviation 2019 Forum, (Dallas, TX, USA), June 17-21, 2019. Available: https://arc.aiaa.org/doi/abs/10.2514/6.2019-2887, doi: https://doi.org/10.2514/6.2019-2887. pdf

[3] O. Hazbón, L. B. Gutiérrez, C. Bil, M. Napolitano, and M. L. Fravolini, “Review of methodologies for aircraft sensors fault detection and correction,” in AIAC18: 18th Australian International Aerospace Congress (2019), (Melbourne, Australia), pp. 259–264, Engineers Australia, Royal Aeronautical Society., Engineers Australia, Royal Aeronautical Society., February 24-26, 2019. Available: https://search.informit.com.au/documentSummary;dn=321908916273250;res=IELENG;type=pdf, ISBN: 9781925627213. pdf

Projects

Fault Tolerant Air Data System

UAV for research in Flight Mechanics and Control

A UAV was developed for research in Flight Mechanics and Flight Controls. The project consists of the integration of a set of sensors with an embedded processor in a small fixed-wing aircraft and the development of a flexible software infrastructure for the implementation and testing of flight control algorithms. The sensor suite consists of an IMU, a magnetometer, a GPS, a pitot tube with a differential pressure sensor, alpha and beta vanes, control surface position sensors, and a sensor for engine RPM. An actuator interface and RF communication link are also included to allow telecommand and telemetry.

Flight Data Recorder for acquisition of flight test data in a ultra light aircraft

A flight data recording system was developed for an ultralight aircraft. The aircraft was instrumented to record data from certification flight tests and for mathematical modeling of the aircraft.

Structure Manager, a software infrastructure for the implementation of Real Time Control Systems

A software infrastructure for the implementation of real time control systems have been developed in C language. The Structure Manager is composed of a library that implements all the infrastructure functionality and a tool to generate code automatically at compilation time, that connects the infrastructure with the application at hand. The infrastructure, combined with a sound programming methodology (object oriented like) enables some powerful features in the real time application accelerating the production cycle of the software.

Andean Condor UAV

The Andean Condor unmanned aerial system is a tactical UAV for surveillance, exploration, reconnaissance, intelligence. Possible applications in photogrammetry and precision agriculture are also considered. This development is the result of the project “Development of a fixed-wing unmanned aerial system for short-range missions – Aura Jr” (2007-2009).

Software for modeling, analysis and design of a fixed wing aircraft

VISOR 3 ROV

VISOR 3 is an ROV developed by the Almirante Padilla Naval Cadet School (ENAP) and Universidad Pontificia Bolivariana (UPB), through the research groups in Naval Engineering (GIIN), Automation and Design A+D and the Institute of Energy and Thermodynamics (IET), with the support of Colciencias. The ROV is an underwater robotic platform for inspecting port structures and hulls of transport vessels, in order to comply with the ISPS code.

Aura Jr UAV

Aura Jr was a small UAV for short-range missions. This was the first UAV developed at the Universidad Pontificia Bolivariana. This was a prototype built as a technology demonstrator for the project “Research and Design of an Automatic Remote Inspection System for Electric Power Transmission Lines” (2004-2005) sponsored by Interconectado Eléctrica SA (ISA), Colciencias and Universidad Pontificia Bolivariana. It was the starting point of the project “Development of a fixed-wing unmanned aerial system for short-range missions – Aura Jr” (2007-2009).

Preliminary design of Aura UAV for monitoring of Power Transmission Lines

The preliminary design of the Aura UAV was the result of the project “Research and Design of an Automatic Remote Inspection System for Electric Power Transmission Lines” (2004-2005) had as its main objective to investigate and design the prototype of an autonomous inspection system for high and extra high voltage transmission lines.

Adaptive Mode Transition Control Architecture With an Application to Unmanned Aerial Vehicles

A new approach to the adaptive mode transition control of unmanned aerial vehicles was proposed. The proposed architecture consists of three levels: the highest level is occupied by mission planning routines where information about way points the vehicle must follow is processed, The mid-level controller uses a trajectory-planning component to coordinate the task execution and provides set points for low-level stabilizing controllers. The adaptive mode transitioning control algorithm resides at the lowest level of the hierarchy consisting of a mode transitioning controller and the accompanying adaptation mechanism. A flight demonstration was done as part of a DARPA sponsored research program to validate the control algorithms using the GTmax, the Georgia Tech UAV testbed.

VISOR 2 ROV

VISOR 2 was an ROV developed as an underwater vehicle with dual control (1998-2000). The project was led by Julio Cesar Correa Rodríguez, Luis Benigno Gutiérrez Zea and Laszlo Jurko.

Neural Network Control of a Flexible Link

A neural network (NN) tracking controller was implemented on a single flexible link and the performance results of the neural network controller were compared to that of proportional derivative (PD) and proportional integral derivative (PID) standard controllers. The NN controller is composed of an outer PD tracking loop, a singular perturbation inner loop for stabilization of the fast flexible-mode dynamics, and an NN inner loop used to feedback linearize the slow pointing dynamics. No off-line training or learning is needed for the NN. It is shown that the tracking performance of the NN controller is far better than that of the PD or PID standard controllers. An extra friction term was added in the tests to demonstrate the ability of the NN to learn unmodeled nonlinear dynamics.

Aircraft Flight Control Aircraft Flight Dynamics Aircraft Flight Mechanics Control Theory

Courses

Flight Dynamics

The Flight Dynamics course explores the dynamic behavior of aircraft during flight. Students create a mathematical model to comprehend how an aircraft moves during different maneuvers by applying fundamental dynamics, aerodynamics, and propulsion concepts. This course provides students with the necessary tools to simulate the flight of a fixed-wing aircraft and analyze its static and dynamic characteristics. The focus is on understanding and manipulating the mathematical model, emphasizing concepts such as static and dynamic stability and the control capabilities of fixed-wing aircraft. Throughout the course, students will use computational tools to assist their analyses.

Automatic Flight Control

Closed loop flight control block diagram

The Automatic Flight Control course introduces the basic principles of control theory as they apply to aircraft flight control. Students will understand how autopilot and stability augmentation systems operate in aircraft and how to analyze and design them. The course covers the fundamentals of linear time-invariant continuous-time systems and various analysis tools in the time and frequency domains. These foundational concepts are then applied to control systems in general and aircraft flight control in particular.

Numerical Methods

The Numerical Methods course introduces fundamental concepts related to various methods for computationally solving mathematical problems commonly encountered in engineering applications. The emphasis is on implementing numerical methods using the Matlab language.