Difference between revisions of "Autopilot creation"

From FSDeveloper Wiki
Jump to: navigation, search
(Undo revision 10093 by MichaelCox (talk))
 
(5 intermediate revisions by 5 users not shown)
Line 1: Line 1:
 
{{Infobox-Applicable-FSVersion
 
{{Infobox-Applicable-FSVersion
| FSXI = true
+
| FSXI = false
 
| FSXA = true
 
| FSXA = true
 
| FSX = true
 
| FSX = true
Line 14: Line 14:
 
[http://jcboliveira.name/autopilot.pdf Autopilot.pdf]
 
[http://jcboliveira.name/autopilot.pdf Autopilot.pdf]
  
 
+
'''''INFORMATION REMOVED BECAUSE THE LINK IS NO LONGER VALID!'''''
INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . 6
+
''''' Thesis is available for pay at http://www.tesionline.com/intl/thesis.jsp?idt=16556'''''
 
 
CHAPTER 1 . . . . . . . . . . . . . . . . . . . . . . . . . . 8
 
 
 
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . 9
 
 
 
1.2 Principles of flight control . . . . . . . . . . . . . . . . . 9
 
 
 
1.3 Flight control surfaces . . . . . . . . . . . . . . . . . . 11
 
 
 
1.3.1 Fighter aircraft . . . . . . . . . . . . . . . . . . . 12
 
 
 
1.3.2 Commercial aircraft . . . . . . . . . . . . . . . . . 13
 
 
 
1.4 Flight control systems . . . . . . . . . . . . . . . . . . . 15
 
 
 
1.4.1 Mechanical systems . . . . . . . . . . . . . . . . . 16
 
 
 
1.4.2 Hydromechanical systems . . . . . . . . . . . . . . 17
 
 
 
1.4.3 Fly-by-wire systems . . . . . . . . . . . . . . . . . 18
 
 
 
1.5 Aircraft navigation and positioning systems . . . . . . . . . 19
 
 
 
1.5.1 Global Positioning System (GPS) . . . . . . . . . . . 20
 
 
 
1.5.2 Autopilot systems . . . . . . . . . . . . . . . . . . 21
 
 
 
CHAPTER 2 . . . . . . . . . . . . . . . . . . . . . . . . . . 25
 
 
 
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . 26
 
 
 
2.2 Control Systems . . . . . . . . . . . . . . . . . . . . . 26
 
 
 
2.2.1 Open-Loop (Feedforward) Control Systems . . . . . . . 27
 
 
 
2.2.2 Closed-Loop (Feedback) Control Systems . . . . . . . . 27
 
 
 
2.2.3 System Transfer Function . . . . . . . . . . . . . . 28
 
 
 
2.3 Proportional-Integral-Derivative (PID) Controller . . . . . . . 29
 
 
 
2.3.1 Basic modes of a PID algorithm . . . . . . . . . . . . 30
 
 
 
2.3.2 Proportional (P) algorithm . . . . . . . . . . . . . . 31
 
 
 
2.3.3 Proportional Integral (PI) algorithm . . . . . . . . . . . 31
 
 
 
2.3.4 Proportional Integral Derivative (PID) algorithm . . . . . . 32
 
 
 
2.3.5 Effects of Proportional, Integral and Derivative action . . . 33
 
 
 
2.3.5.1 Windup . . . . . . . . . . . . . . . . . . 36
 
 
 
2.3.5.2 Setpoint limitation . . . . . . . . . . . . . . 38
 
 
 
2.3.5.3 Incremental Algorithms . . . . . . . . . . . . 38
 
 
 
2.3.5.4 Back-calculation and Tracking . . . . . . . . . 39
 
 
 
2.3.5.5 Controllers with a Tracking Mode . . . . . . . . 42
 
 
 
2.3.6 PID Tuning . . . . . . . . . . . . . . . . . . . . 43
 
 
 
2.3.6.1 Ziegler-Nichols Methods . . . . . . . . . . . 46
 
 
 
2.3.6.2 Cohen-Coon Method . . . . . . . . . . . . . 48
 
 
 
CHAPTER 3 . . . . . . . . . . . . . . . . . . . . . . . . . . 50
 
 
 
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . 51
 
 
 
3.2 Autopilot specification . . . . . . . . . . . . . . . . . . 51
 
 
 
3.2.1 Heading controller specifications . . . . . . . . . . . . 51
 
 
 
3.2.2 Altitude controller specifications . . . . . . . . . . . . 53
 
 
 
3.2.3 GPS Navigation controller specifications . . . . . . . . . 54
 
 
 
3.3 Autopilot design . . . . . . . . . . . . . . . . . . . . . 54
 
 
 
3.3.1 Microsoft® Flight Simulator and the plug-in FSUIPC . . . . 55
 
 
 
3.3.2 The function Plotter . . . . . . . . . . . . . . . . . 58
 
 
 
3.3.3 Heading controller design . . . . . . . . . . . . . . . 60
 
 
 
3.3.4 Altitude controller design . . . . . . . . . . . . . . . 70
 
 
 
3.3.5 GPS navigation controller design . . . . . . . . . . . . 75
 
 
 
3.4 Controller implementation . . . . . . . . . . . . . . . . . 77
 
 
 
3.4.1 The function lateral . . . . . . . . . . . . . . . . . 77
 
 
 
3.4.2 The function longitudinal . . . . . . . . . . . . . . . 81
 
 
 
3.4.3 The function navigation . . . . . . . . . . . . . . . 84
 
 
 
CHAPTER 4 . . . . . . . . . . . . . . . . . . . . . . . . . . 86
 
 
 
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . 87
 
 
 
4.2 Experiment description . . . . . . . . . . . . . . . . . . 87
 
 
 
4.2.1 Test #1: lateral controller testing . . . . . . . . . . . . 88
 
 
 
4.2.2 Test #2: longitudinal controller testing . . . . . . . . . . 98
 
 
 
4.2.3 Test #3: navigation controller testing . . . . . . . . . . 124
 
 
 
4.2.4 Test #4: lateral + longitudinal controllers testing . . . . . . 132
 
 
 
4.2.5 Test #5: navigation + longitudinal controllers testing . . . . 141
 
 
 
CONCLUSIONS . . . . . . . . . . . . . . . . . . . . . . . . 152
 
 
 
APPENDIX A . . . . . . . . . . . . . . . . . . . . . . . . . . 154
 
 
 
BIBLIOGRAPHY . . . . . . . . . . . . . . . . . . . . . . . . 157
 
  
 
[[category:Aircraft Design]]
 
[[category:Aircraft Design]]
[[category:Panel & Gauge Design]]
+
[[category:Panel and Gauge Design]]

Latest revision as of 15:12, 3 March 2016

This is a Bachelor thesis that deals with aircraft autopilots using FS as a bed test. It shows how to tune a PID using several methods. The methods can be used to tune FS standard autopilot but in this case a separated one was made. The reader needs some Laplace transform knowledge to follow the equations but I believe that basic Mathematical analysis and the graphs will be enough to understand.

The author is Andrea Saccomanno and myself as tutor.

Autopilot.pdf

INFORMATION REMOVED BECAUSE THE LINK IS NO LONGER VALID! Thesis is available for pay at http://www.tesionline.com/intl/thesis.jsp?idt=16556