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[email protected]@alum.mit.edu DGLR/EADS Manching 11. November 2008DGLR/EADS Manching 11. November 2008 11
A Selected Review of FlyingQualities Research at DLR Peter Hamel Braunschweig Germany
AA SelectedSelected ReviewReview of Flyingof Flying
QualitiesQualities Research at DLRResearch at DLRPeter HamelPeter Hamel BraunschweigBraunschweig GermanyGermany
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ContentsContentsIntroduction
Flying Qualities Challenges during WW IIEarly Flying Qualities Research after WW II
Flying Qualities Research since 1970Transatlantic Cooperation
Project Support
Resum
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Argueing with Bavarian Flight-Enthusiast F.J.SArgueing with Bavarian Flight-Enthusiast F.J.S.
FJS & Hermann Blenk
1958 ILA 1988
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Problem:Flight-physical
Limitations
VehicleVehicleStabilityControllabilitySensitivityLoads
The Man-Machine-Interface (MMI) of
Integrated Flight Systems
The Man-Machine-Interface (MMI) of
Integrated Flight Systems
StabilityControllabilitySensitivityLoads
VehicleVehicle
http://the%20role%20of%20a%20good%20pilot.wmv/http://the%20role%20of%20a%20good%20pilot.wmv/7/31/2019 01-P Hamel DGLR FQ Manching 081111 New
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The MMI of Integrated Flight SystemsThe MMI of Integrated Flight Systems
Problem:Flight-physical
Limitations
DisplaysSensorsProcessorsEffectors
SystemsSystems
Man-MachineI nterface
Man-MachineI nterface
Problem:Flight-critical
System Failures
What Effects on Flying Qualities?
StabilityControllabilitySensitivityLoads
VehicleVehicle
Problem:Flight-criticalWorkload
KnowledgePerceptionsReactionsDecisionmaking
PilotPilot
Man-MachineI nterface
Man-MachineI nterface
The Role of agood pilot.wmv
http://the%20role%20of%20a%20good%20pilot.wmv/http://the%20role%20of%20a%20good%20pilot.wmv/http://the%20role%20of%20a%20good%20pilot.wmv/http://the%20role%20of%20a%20good%20pilot.wmv/http://the%20role%20of%20a%20good%20pilot.wmv/http://the%20role%20of%20a%20good%20pilot.wmv/http://the%20role%20of%20a%20good%20pilot.wmv/http://the%20role%20of%20a%20good%20pilot.wmv/7/31/2019 01-P Hamel DGLR FQ Manching 081111 New
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ContentsContentsIntroduction
Flying Qualities Challenges during WW IIEarly Flying Qualities Research after WW II
Flying Qualities Research since 1970Transatlantic Cooperation
Project Support
Resum
7/31/2019 01-P Hamel DGLR FQ Manching 081111 New
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Extreme F.Q. Testing: Me 163B (1943/44)Extreme F.Q. Testing: Me 163B (1943/44)
Hazardous Environment
Acceptable Low-Speed Handling (L.E.Slots)Compressibility Effects Mach Tuck3 5 minutes test time
F.Q. Criteria non-existent archaic testequipmentarchaic testequipment Rudy OpitzRudy Opitz
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Rudder
F.Q. Research: Artificial Stability (1944)F.Q. Research: Artificial Stability (1944)
Separate Surface ControlPilot Control (Rudder)Automatic Control (Yaw Damper)
Hs 129 Snaking Tendency
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ContentsContentsIntroduction
Flying Qualities Challenges during WW IIEarly Flying Qualities Research after WW II
Flying Qualities Research since 1970Transatlantic Cooperation
Project Support
Resum
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Early Rotorcraft F.Q. Research (1960/63)Early Rotorcraft F.Q. Research (1960/63)
Vertol
H-21C
Focke Kolibri I
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Early Rotorcraft F.Q. Research (1961)Early Rotorcraft F.Q. Research (1961)
Bristol SycamoreBristol Sycamore
2
1
0 .2 .4 .6 .8 Hz 1
Frequency ResponsePitch
Rate/long. StickFrequency ResponsePitch
Rate/long. Stick Rate GyroRate Gyro
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Early Aircraft F.Q. Research (1963)Early Aircraft F.Q. Research (1963)
100
10
1.0
0.10.01 0.1
1.0 rad/sec 100.01 0.1
1.0 rad/sec 10
/ stBasic ControlBasic Control
Artificial
Pitch
DampingArtificial Pitch
Damping
Dornier Do 27
Pitch
Attitude
ControlAugmentation
Dornier Do 27
Pitch
Attitude
ControlAugmentation
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Pitch
Control
EffectivenessPitch
Control
Effectiveness
PitchDampingPitchDamping
goodgood
Early Rotorcraft F.Q. Research (1965)Early Rotorcraft F.Q. Research (1965)
SA Super Frelon
German
Franco Cooperation
(Flight
Tests in Istris)
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ContentsContentsIntroduction
Flying Qualities Challenges during WW IIEarly Flying Qualities Research after WW II
Flying Qualities Research since 1970Transatlantic Cooperation
Project Support
Resume
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In-Flight Simulator (IFS) HFB-320 FLISIIn-Flight Simulator (IFS) HFB-320 FLISI
1973-1984
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Safety Pilot
Direct Lift Flap
Vane
Data Aquisition SystemAileron Actuator
DLC Flap Actuator
Analog Tape Recorder
Digital Tape Recorder
Elevator
Evaluation Pilot
Throttle Actuator
Flight Log
Rudder Actuator
Rudder
Elevator actuator
Digital ComputerOperator s Console
Test Electronic
Hydraulic Power Packages
In-Flight Simulator HFB-320 FLISI (Layout)In-Flight Simulator HFB-320 FLISI (Layout)
FBW-Effectors
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Effect of D.L.C. on F.Q.:HFB-320 FLISI (1973)Effect of D.L.C. on F.Q.:HFB-320 FLISI (1973)
Tightend Frequency Neighbourhood between Pitch & Path Control
CAP Criterion for D.L.C. not relevant
KK = Flap/Elevator Gearing
Ratio
K
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RC/AH
Systemarchitecture
Landing
Approach in Turbulence
Effect of Control Law on F.Q.: HFB-320 FLISIEffect of Control Law on F.Q.: HFB-320 FLISI
Long./Lat. Rate- Command/Attitude- Hold: Sidegrip Control
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Effect of Time Delay on F.Q.: HFB-320 FLISIEffect of Time Delay on F.Q.: HFB-320 FLISI
Time Delay
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Effect of Static Margin on F.Q.: HFB-320 FLISIEffect of Static Margin on F.Q.: HFB-320 FLISI
55% MAC
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In-Flight Simulator BO-105 ATTHeSIn-Flight Simulator BO-105 ATTHeS
Autonomous
Tracking
Flightabove
moving
Target 1994
Autonomous
Tracking
Flightabove
moving
Target 1994
Flight
over
Brocken Mountainafter
German Unification
1990
Flight
over
Brocken Mountainafter
German Unification
1990
1982-1995
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Modeling Effects on IFS Quality: BO-105 ATTHeSModeling Effects on IFS Quality: BO-105 ATTHeS
IFS:
In-flightSimulation
IFS:In-flightSimulation
Eff f D li F Q
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Explicit
Model-Following
ControlExplicit Model-Following Control
Effect of Decoupling on F.Q.: BO-105 ATTHeSEffect of Decoupling on F.Q.: BO-105 ATTHeS
Explicit Model-Following ControlExplicit
Model-Following
Control
Rotor-Decoupling
Rotor-Decoupling
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Inflight Simulator VFW-614 ATTAS (since 1986)Inflight Simulator VFW-614 ATTAS (since 1986)
Fly-by-Wire Motivators
Data Acquisition,Recording, Avionic,Telemetry
Rudder
Elevator
Stabilizer
Direct li ft flaps
Landing flaps
FlaperonsEngines
Data AcquisitionSystem Operator
Flightengineer
Simulationcockpit
Air flow sensor
Safety pilot
Experimenter
On-board computers
Computer Operator
6
32
1
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ATTAS In-Flight Simulation: Hermes SpaceplaneATTAS In-Flight Simulation: Hermes Spaceplane
20
0
-20
40
-40 0 20 40 50301 0 s
Sidestick roll command, deg/s
Bank angle, deg
Time
Model ATTAS
Landing
ApproachLanding
Approach
Magnitude
ErrorMagnitude
Error
Phase ErrorPhase Error
Flight
ControlLaw:
RC/AHFlight
ControlLaw:
RC/AH
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Oscillatory Pilot Vehicle Interactions (1)Oscillatory Pilot Vehicle Interactions (1)
Control Pumping:HFB-320 FLISI
Intuitional
Testing
of Control
Effectiveness
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Oscillatory Pilot Vehicle Interactions (2)Oscillatory Pilot Vehicle Interactions (2)
Rotorcraft-Pilot Coupling (RPC):CAT IBO-105 ATTHeS:
Time Delay
Effects
8 0
4 0
- 2 0
T im e , (s e c )
P i l o t
R o l l I n p u t( % )
B a n kA n g l e( d e g )
u e o m m a n w m s e c a e e a y
P ro n o u n c e d R P C -S itu a t io n
0
2 0
0
0 1 0 2 0 3 0 4 0 5 0
8 0
4 0
- 2 0
T i m e , (s e c )
P i l o tR o l l I n p u t
( % )
B a n kA n g l e( d e g )
u e o m m a n w m s e c a e e a y
P ro n o u n c e d R P C -S itu a t io n
0
2 0
0
0 1 0 2 0 3 0 4 0 5 00.3
0.2
0.1
0 1 3 4 5
Level 3
Level 1
Level 2
2
(sec)
PhaseDelay
p
Bandwidth BW (rad/sec)
0.3
0.2
0.1
0 1 3 4 5
Level 3
Level 1
Level 2
2
(sec)
Phase
Delayp
Bandwidth BW (rad/sec)
BO-105 ATTHeS Basic
BO-105 ATTHeS + AC + 160msec
ADS 33D Bandwidth Criterion feasible
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Task:Sidestep
Target:Moving
Car
Control
Law:Att. Command
Added
Delay:100msec
BO-105 ATTHeS:
Time Delay/Biodynamic
Coupling
Oscillatory Pilot Vehicle Interactions (3)Oscillatory Pilot Vehicle Interactions (3) Rotorcraft-Pilot Coupling (RPC):CAT I/III
No Criteria
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Oscillatory Pilot Vehicle Interactions (4)Oscillatory Pilot Vehicle Interactions (4)
Aircraft/Rotorcraft-Pilot Coupling (A/RPC):CAT II:
Rate Saturation Criterion OLOP (1)
OLOP (Duda) Open Loop Onset Point of a Rate Limiting Element (RLE)
in an Aircraft-Pilot Loop, plotted in a Nichols Chart Predicts A/RPC Problems due to RLEs Applicable to Roll, Pitch and Yaw Axes for RLEs
in Forward
and/or Feedback Paths
of Flight Control Systems Based on Describing Function Techniques Intensity of Jump Resonances highly dependent on
OLOP-Location...
The OLOP Criterion has all the Hallmarks for practical Design Guidance ...
John Gibson, 1999
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Oscillatory Pilot Vehicle Interactions (4)Oscillatory Pilot Vehicle Interactions (4)
Aircraft-Pilot Coupling (APC):CAT II:
Rate Saturation OLOP Validation Data Base
APC-prone
OLOP-Locus
In-Flight
SimulationIn-Flight
Simulation
Nonlinear
SimulationNonlinear
Simulation
APCAPC
APC
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Oscillatory Pilot Vehicle Interactions (5)Oscillatory Pilot Vehicle Interactions (5)
Control Ratcheting (1):Biodynamic
Feedback Multibody-Pilot-Model
Biomechanical
Model (Koehler)
40 deg/sec
4 sec
4 sec
40 deg/sec
F-16XL Flight
Data Nonl. Simulation
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Oscillatory Pilot Vehicle Interactions (6)Oscillatory Pilot Vehicle Interactions (6) Control Ratcheting (2):
Biodynamic
Feedback Multibody-Pilot-Model Cluster
Biomechanic
Pilot Models (Hoehne) 4 Biomechanic
Models predicting
F-16XL RR
Area
of potentialRoll Ratcheting
(RR)
MATLAB/SIMULINK/
SIMPACKCombined
Modeling
Approach
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ContentsContentsIntroduction
Flying Qualities Challenges during WW IIEarly Flying Qualities Research after WW II
Flying Qualities Research since 1970Transatlantic Scientific Cooperation
Project Support
Resum
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Transatlantic
Scientific
CooperationTransatlantic Scientific Cooperation
1979
19881979 1988 1979 20101979
2010
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USAF-FMOD MoU: GRATE/ATLAS Road MapUSAF-FMOD MoU: GRATE/ATLAS Road Map
USAF-FMOD MoU
Multi Target Sequential
Lighting
System
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GRATE/ATLAS Evaluation of Grumman X-29AGRATE/ATLAS Evaluation of Grumman X-29A
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GRATE/ATLAS Flight
Experiment with
NT-33AGRATE/ATLAS Flight Experiment with NT-33A
G S C l i
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GRATE/ATLAS ConclusionsGRATE/ATLAS ConclusionsSequential Target Light Tracking extremely effective
Apparent Randomness of Light Sequences raises Pilot Gain
Eliminating pre-cognitive
Behaviour
Suitable for allTypes
of Flight
Vehicles
Recommeded byUSAF TPS tobecome
standard
DLR/NASA/USAFFlight
Test Team
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ContentsContents
Introduction
Flying Qualities Challenges during WW IIEarly Flying Qualities Research after WW II
Flying Qualities Research since 1970Transatlantic Cooperation
Project Support
Resum
Tornado USMil SpecsDo 228 TNT OLGA R.Q.
A-310/A-3XX IFSHermes/HTA IFS
SAFIR IFSEurofighter HQDD
Do 728 IFSStrato 2C Extreme F.Q.
X-31 Extreme F.Q.
Tornado USMil SpecsDo 228 TNT OLGA R.Q.
A 310 IFSHermes IFS
Eurofighter HQDD
Do 728 Extreme F.QIFS
Strato 2C X-31A/VECTOR
Tornado USMil Specs
Do 228 TNT OLGA R.Q.
A 310 IFSHermes IFS
Eurofighter HQDDDo 728 Extreme F.Q
IFS Strato 2C X-31A/VECTOR
High Risk
ProgramsHigh Risk Programs
E F Q T i S 2C (1995)
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Extreme F.Q. Testing: Strato 2C (1995)Extreme F.Q. Testing: Strato 2C (1995)
Large control friction
Local Flow Separations
Low Speed Stability
Low Yaw DampingSluggish Roll Control
Low Force Gradients
Worlds largest Composite Structure
Unoff. WorldAltitude
Record: 18,3km = 60.000ft
E F Q T i S 2C (1995)
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Extreme F.Q. Testing: Strato 2C (1995)Extreme F.Q. Testing: Strato 2C (1995)
ad-hoc Fixes:Ventral Fin nControl Column Down Springo
Yaw DamperManual Control Allocation on Final:Pilot 1 (PiC): Attitude
Control
& Alignment
Pilot 2: Speed & Flight Path Control
n
o
E F Q R h X 31A/VECTORExtreme F Q Research: X 31A/VECTOR
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Extreme F.Q. Research: X-31A/VECTORExtreme F.Q. Research: X-31A/VECTOR
Integrated Thrust Vector Control for Improved F.Q.Large Amplitude Maneuvers Aerodynamic Hysteresis
Integrated Flush Air Data S ystem FADS verified & validated
EFM VECTOR
FADS
1990-1995
1999-2003
Hi h AOA F Q R h X 31A VECTOR
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High AOA F.Q. Research: X-31A VECTORHigh AOA F.Q. Research: X-31A VECTOR
Effects
of Dynamic
LiftEffects of Dynamic LiftUnsteady
Steady
OriginalData Set
Multi-run
Identification:29 Maneuvers
Multi-run
Identification:29 Maneuvers
The DLR XThe DLR X--31A31A TeamTeam--BSBS/OP/OP
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ContentsContentsIntroduction
Flying Qualities Challenges during WW IIEarly Flying Qualities Research after WW II
Flying Qualities Research since 1970Transatlantic Cooperation
Project Support
Resume & Lessons Learned
I Fli ht Si l t P j t li d
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In-Flight Simulator Projects realizedIn-Flight Simulator Projects realized
HFB-320 FLISIHFB-320 FLISI BO-105 ATTHeSBO-105 ATTHeS
VFW-614 ATTASVFW-614 ATTAS EC-135 FHSEC-135 FHS
1982-19951972-1984
1986-2010 2001-2020
lI t ti l S i IFS 1991
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International Symposium on IFS - 1991International Symposium on IFS - 1991
Author: Michael Mecham
Airborne
simulation
is
driving
forcein advanced
control
system
research
AW&ST, October
7, 1991, 8 Pages
k hDLR FRI* WTD 61 W k h IFS 1993
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DLR FRI*-WTD-61 Workshop on IFS - 1993DLR FRI*-WTD-61 Workshop on IFS - 1993
*Gromov Flight Reserch Institute
Former Members of our F Q Testing FamilyFormer Members of our F Q Testing Family
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Former Members of our F.Q. Testing FamilyFormer Members of our F.Q. Testing Family
Bob WoodcockUSAF-FDL
Duane McRuerSTI
Ron GerdesNASA-Ames
Bob HarperCalspan
Claude LelayeAirbus
R i i h 4 f Di f AFFTCReunion with 4 former Directors of AFFTC
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Fred StolikerFred Stoliker
Dick HildebrandtDick Hildebrandt
PeteAdolphPeteAdolph Al PhilipsAl Philips
Reunion with 4 former Directors of AFFTCReunion with 4 former Directors of AFFTC
Edwards AFB, 21.10.1988Edwards AFB, 21.10.1988
R & L L d
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Resum & Lessons LearnedResum & Lessons Learned
What do you need to assure ultimate Flying Qualities?Long-Term
& L Research
with
> qualified, motivated and experienced Scientists &Engineers> well modeled, validated
& calibrated
Test Facilities
(ground-based and airborne Simulators)> individual
& experienced
Test Pilots:-
they
never
create
Problems
- unless F. Q. Problems show up > Collaboration,Collaboration, Collaboration> no Lawyers, please
(this
keeps
not
only
Pilots
happy)
L:
Long Life Learning
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FinalFinal
In-Flight Simulator - Projects cancelled (I)In-Flight Simulator - Projects cancelled (I)
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In-Flight Simulator - Projects cancelled (I)In Flight Simulator Projects cancelled (I)
1984 1984
In Flight Simulator Projects cancelled (II)In-Flight Simulator - Projects cancelled (II)
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1986
In-Flight Simulator - Projects cancelled (II)In-Flight Simulator - Projects cancelled (II)