Chapter 6 Successive Loop Closure Beard Mc Lain

Chapter 6 Successive Loop Closure Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 1

Successive Loop Closure Open-loop system Closed-loop system Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 2

SLC: Inner Loop Closed At frequencies below inner-loop bandwidth, approximate CLTF as 1, then design middle loop Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 3

SLC: Two Loops Closed At frequencies below middle-loop bandwidth, approximate CLTF as 1, then design outer loop Key idea: Each successive loop must be lower in bandwidth --- typically by a factor of 5 to 10 Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 4

Saturation Limits Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 5

Lateral-directional Autopilot Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 6

Roll Autopilot Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 7

Roll Autopilot • The book suggests using an integrator on roll the roll loop to correct for steady state error. • Our current suggestion is to not have an integrator on inner loops including the roll loop. • Integrators add delay and instability -> not a good idea for the inner most loops. • An integrator will be used on the course loop to correct for steady state values. Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 8

Course Hold Loop Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 9

TF Zero Affects Response Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 10

Course Hold Loop Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 11

Sideslip Hold Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 12

Lateral Autopilot - Summary Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 13

Lateral Autopilot – In Flight Tuning Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 14

Longitudinal Flight Regimes Descend zone Altitude hold zone Climb zone Take-off zone Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 15

Pitch Attitude Hold Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 16

Altitude Hold Using Commanded Pitch Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 17

Altitude from Pitch – Simplified Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 18

Altitude from Pitch Gain Calculations Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 19

Airspeed Hold Using Commanded Pitch Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 20

Airspeed from Pitch Gain Calculations Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 21

Airspeed Hold Using Throttle Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 22

Airspeed Hold Using Throttle Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 23

Altitude Control State Machine Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 24

Longitudinal Autopilot - Summary Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 25

Longitudinal Autopilot – In Flight Tuning Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 26

PID Loop Implementation Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 27

PID Loop Implementation Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 28

Integrator Anti-wind-up Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 29

Integrator Anti-wind-up Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 30

PID Implementation Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 31

Simulation Project Beard & Mc. Lain, “Small Unmanned Aircraft, ” Princeton University Press, 2012, Chapter 6, Slide 32