Longitudinal Autopilots
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Introduction
Autopilot uses:
For safety reasons
Lowers pilot workload (especially for long flights)
Types
Control or Hold certain flight parameter(s)
Perform navigational tasks
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Introduction
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Introduction
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Longitudinal Autopilots
Pitch Hold
Altitude Hold
Airspeed Hold
Mach Hold
Climb/Descend rate Hold
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Pitch Attitude Hold Autopilot
9/10/2012
Pitch Hold
Prevents pilot having to constantly control pitch attitude in
turbulent air (e.g. TURB switch in 747-400)
Autopilot mode analysis/design, 2 important questions:
Which type of control device do we use?
Elevator
What type of feedback loop structure (sensor)?
Vertical gyro
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Pitch Hold
Block Diagram
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Pitch Hold
Block Diagram
2
+ +
++
()
+ 1
1
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Pitch Hold
Block Diagram
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Pitch Hold
Example: Cessna 620
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Pitch Hold
Example: Cessna 620
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Pitch Hold
Example: Cessna 620
Simulink & sisotool
Gain
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Pitch Hold
Example: Cessna 620
= 0.5
Short period damping goes from = 0.716 to = 0.464
But it still satisfies the requirements, so no inner loop
(SAS loop) is required.
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Pitch Hold
Example: Cessna 620
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Pitch Hold
Example: Cessna 620
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Pitch Hold
Example: Boeing 747-200
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Pitch Hold
Example: Boeing 747-200
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Pitch Hold
Example: Boeing 747-200
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Pitch Hold
Example: Boeing 747-200
Simulink & sisotool
Gain
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Pitch Hold
Example: Boeing 747-200
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Pitch Hold
Example: Boeing 747-200
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Pitch Hold
Example: Boeing 747-200
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Pitch Hold
Example: Boeing 747-200
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Pitch Hold
Example: Boeing 747-200
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Pitch Hold
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Pitch Hold
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Pitch Hold
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Pitch Hold
Flight Conditions
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Pitch Hold
Flight Conditions
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Pitch Hold
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Pitch Hold
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Pitch Hold
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Pitch Hold
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Altitude Hold Autopilot
9/10/2012
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Altitude Hold
Prevents pilot having to constantly control altitude during
the flight
Autopilot mode analysis/design, 2 important questions:
Which type of control device do we use?
Elevator
What type of feedback loop structure (sensor)?
Altimeter
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Altitude Hold
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Altitude Hold
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Altitude Hold
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Altitude Hold
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Altitude Hold
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Altitude Hold
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Altitude Hold
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Altitude Hold
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Altitude Hold
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Altitude Hold
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Altitude Hold
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Airspeed Hold Autopilot
9/10/2012
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Airspeed Hold
Prevents pilot having to constantly control airspeed
during the flight
Autopilot mode analysis/design, 2 important questions:
Which type of control device do we use?
Throttle
What type of feedback loop structure (sensor)?
Airspeed Sensor
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Airspeed Hold
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Airspeed Hold
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Airspeed Hold
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Airspeed Hold
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Airspeed Hold
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Flight Path Angle Hold Or
Climb/Descent Rate Hold Autopilot
9/10/2012
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Flight Path Angle Hold
Prevents pilot having to constantly control airspeed
during the flight
Autopilot mode analysis/design, 2 important questions:
Which type of control device do we use?
Elevator
What type of feedback loop structure (sensor)?
Flight Path Angle??
It is not directly measureable so vertical gyro and angle of attack
sensor are used.
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Flight Path Angle Hold
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Flight Path Angle Hold
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Flight Path Angle Hold
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Flight Path Angle Hold
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Summary
For each Hold autopilot there are two important
questions:
Keep controller as simple as possible
Which type of control device?
Which type of feedback? loop structure? sensors?
Proportional only (if acceptable)
PD, PI, Lead/Lag, etc
The closed loop system must comply with the
airworthiness requirements
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Summary
Take into account the inner loop, when constructing the
outer loop.
Keep in mind the possible effects on the closed loop
system of:
Servo break frequency
Flight condition (airspeed, altitude)
etc...
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