i Department of Aeronautical Engineering GRADUATION PROJECT June 2018 FINITE STATE ...

81 Pages·2017·3.59 MB·English

ISTANB UL TECHNICAL UNIVERSITY  FACULTY OF AERONAUTICS AND ASTRONAUTICS

FINITE STATE AUTOMATA BASED APPROACH
TO AUTONOMOUS STALL AND UPSET
RECOVERY FOR AGILE AIRCRAFT

GRADUATION PROJECT

Anıl YILDIZ

Department of Aeronautical Engineering

Thesis Advisor: Asst. Prof. Nazım Kemal Üre

June 2018

i
ISTANBUL TECHNICAL UNIVERSITY  FACULTY OF AERONAUTICS AND ASTRONAUTICS
FINITE STATE AUTOMATA BASED APPROACH
TO AUTONOMOUS STALL AND UPSET
RECOVERY FOR AGILE AIRCRAFT

GRADUATION PROJECT
Anıl YILDIZ
110150701
Department of Aeronautıcal Engineering

Thesis Advisor: Asst. Prof. Nazım Kemal Üre
June 2018

ii
Anıl Yıldız, student of ITU Faculty of Aeronautics and Astronautics with student ID
110150701, successfully defended the graduation entitled “FINITE STATE
AUTOMATA BASED APPROACH TO AUTONOMOUS STALL AND UPSET
RECOVERY FOR AGILE AIRCRAFT”, which he prepared after fulfilling the
requirements specified in the associated legislations, before the jury whose signatures
are below.

Thesis Advisor : Asst. Prof. Nazım Kemal Üre ..............................
Istanbul Technical University

Jury Members : Prof. İbrahim Özkol .............................
Istanbul Technical University
Asst. Prof. Emre Koyuncu ..............................
Istanbul Technical University
Asst. Prof. Nazım Kemal Üre ..............................
Istanbul Technical University

Date of Submission : 28 May 2018
Date of Defense : 11 June 2018

iii
To humanity,

iv
FOREWORD
First of all, I would like to express how deeply thankful I am to my advisor Prof.
NazımKemalU¨re,whohasbeen,tosaytheleast,asplendidmentorwhoacceptedme
to his research when I was only a sophomore. It would not be an overstatement to say
that without his guidance, my undergrad years would have been over before I realized
how much I enjoyed being a researcher. Prof. U¨re’s attribute of being a great listener
andhisvaluablepastexperienceshaveleftmylabmatesandIpassionateandinaweto
continue when we got stuck, which is most needed in this line of work. I feel lucky to
haveknownandworkedwithsuchagreatacademician.
My labmates were also a great motivation and inspiration at the Aerospace Re-
search Center. Mehmet Ugur Akc¸al, Batuhan Hos¸tas¸, Majid Moghadam and Burak
Yu¨ksek were always there for me when I needed a lending hand. Although they were
already MSc and PhD students and were occupied with their own research, they never
postponed helping me when I got lost. Mevlu¨t Uzun and Barıs¸ Bas¸pınar have also
been,despiteworkingonadifferentfieldofresearchthanmine,veryhelpfulwiththeir
small-talksthatlatercontributedtomyfirstpublication.
Myroommateinmysenioryear,AnılBerkAtalarwasalsosupportivewithhisun-
matchablesenseofhumor. Himandmyoldestfriendin˙ITU¨,MustafaBerkayAkbıyık,
have been two great people to hang out with throughout my undergrad years. Both of
theirfriendshipsaregold,andalwayswillbe.
This acknowledgment section would be incomplete without mentioning Prof.
Go¨khan ˙Inalhan, who has perhaps been the single most important person during my
undergrad years. I will never forget the day he accepted to see me in his office in
the Rectorate Building. The 15 minutes he spared has been, in the most humble ex-
pression, a “game-changer” in my life and career as I would have never thought of
proceeding in the field of academic research after graduation, and likely would have
endedbeinganengineeratacompany,regrettingastheyearswentby.
Prof. Emre Koyuncu and Prof. Hu¨lya Cebeci have also been great sources of wis-
domandinspiration,whichcouldalsobesensedinminutesfromthewaytheylectured
theirclasses. TheywerealsotheonestoinformmeabouttheBoeingScholarshipPro-
gram,whichwasagreataidinmysenioryear. Ithasbeenagreathonortohaveshared
thesameworkspacewiththesefourincredibleacademicians.
Lastbutnotleast,myfamilyhasbeenverysupportivefrombeginningtoend,andI
cannotpossiblyexpresshowgratefulIamtothem. Ourlongtalkswithmymotherand
father shaped my point of view on many matters, especially my life after graduation,
andmademethepersonIamtoday.
May2018 AnılYILDIZ
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vi
TABLEOFCONTENTS
Page
FOREWORD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
TABLEOFCONTENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
ABBREVIATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix
SYMBOLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . x
LISTOFTABLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
LISTOFFIGURES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
SUMMARY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
1 INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 PurposeofThisThesis . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 LiteratureReview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Hypothesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 BACKGROUND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.1 RecoverabilityCriteria . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 F-16AircraftModel . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3 ExtendedDefinitions . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3 NONLINEARCONTROLLERSIMPLEMENTEDINSIMULATIONS 14
3.1 Single-LoopNDIControllerforP,QandR(C ) . . . . . . . . . . . . 15
1
3.2 Double-LoopNDIControllerforα,β andφ (C ) . . . . . . . . . . . 19
2
3.3 SwitchingNDIController(C ) . . . . . . . . . . . . . . . . . . . . . 21
3
4 FINITESTATEAUTOMATON . . . . . . . . . . . . . . . . . . . . . . 21
4.1 AutomataFragmentNo. 1: RegulationofAngularRates . . . . . . . 23
4.2 AutomataFragmentNo. 2: SimpleStall . . . . . . . . . . . . . . . . 26
4.3 AutomataFragmentNo. 3: Nose-High,SmallBankAngleUpset . . . 28
4.4 AutomataFragmentNo. 4: Nose-High,HighBankAngleUpset . . . 31
4.5 AutomataFragmentNo. 5: Nose-Low,SmallBankAngleUpset . . . 33
4.6 AutomataFragmentNo. 6: Nose-Low,HighBankAngleUpset . . . . 35
4.7 AutomataFragmentNo. 7: UpsetRecoveryFinalization . . . . . . . 37
4.8 CompositionofFragments . . . . . . . . . . . . . . . . . . . . . . . 39
4.9 DiscreteSystemVerification . . . . . . . . . . . . . . . . . . . . . . 40
4.9.1 SafetyProperties . . . . . . . . . . . . . . . . . . . . . . . . 40
4.9.2 BlockingProperties . . . . . . . . . . . . . . . . . . . . . . . 42
5 OPTIMIZATIONALGORITHM . . . . . . . . . . . . . . . . . . . . . 42
5.1 Off-LineOptimization . . . . . . . . . . . . . . . . . . . . . . . . . 45
5.2 On-LineOptimization . . . . . . . . . . . . . . . . . . . . . . . . . . 48
6 SIMULATIONRESULTS . . . . . . . . . . . . . . . . . . . . . . . . . . 50
6.1 ElementaryRecoveryExample: FromaSimpleStall . . . . . . . . . 51
6.2 AdvancedRecoveryExample: FromaNose-HighUpset . . . . . . . 53
6.3 RecoverabilityEnvelope . . . . . . . . . . . . . . . . . . . . . . . . 56
6.4 OptimizationImprovements . . . . . . . . . . . . . . . . . . . . . . . 59
vii
7 CONCLUSION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
8 PUBLICATIONSFROMTHISTHESIS . . . . . . . . . . . . . . . . . 61
REFERENCES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
viii
ABBREVIATIONS
6DOF : SixDegreesofFreedom
FAA : FederalAviationAdministration
GNC : Guidance,NavigationandControl
GTM : GenericTransportModel
HBA : HighBankAngle
Hi-Fi : High-Fidelity
LOC : Loss-of-Control
NASA : NationalAeronauticsandSpaceAdministration
NDI : NonlinearDynamicInverse(Controller)
NH : Nose-High
NL : Nose-Low
PI : Proportional-Integral(Controller)
SBA : SmallBankAngle
TCM : TransportClassModel
ix
SYMBOLS
α : angleofattack
α : stallangleofattack
stall
β : sideslipangle
φ : roll(bank)angle
θ : pitchangle
ψ : yawangle
δ : ailerondeflectionangle
a
δ : elevatordeflectionangle
e
δ : rudderdeflectionangle
r
δ : throttlepercentage
T
N : Northposition
P
E : Eastposition
P
h : altitude
N : normalloadfactor
Z
P : rollangularrate
Q : pitchangularrate
R : yawangularrate
V : calibratedairspeed
C
V : trueairspeed
T
x