01-P Hamel DGLR FQ Manching 081111 New

A Selected Review of Flying A Selected Review of Flying Qualities Research at DLR Qualities Research at DLR
Peter Hamel Peter Hamel Braunschweig Braunschweig Germany Germany
peter.hamel@alum.mit.edu
DGLR/EADS Manching 11. November 2008
Contents Contents
Introduction Flying Qualities Challenges during WW II Early Flying Qualities Research after WW II Flying Qualities Research since 1970 Transatlantic Cooperation Project Support Resum
peter.hamel@alum.mit.edu DGLR/EADS Manching 11. November 2008 2
Argueing with Bavarian Flight-Enthusiast F.J.S. Argueing with Bavarian Flight-Enthusiast F.J.S.
FJS & Hermann Blenk 1958
ILA 1988
The Man-Machine-Interface (MMI) of The Man-Machine-Interface (MMI) of Integrated Flight Systems Integrated Flight Systems
Problem: Flight-physical Limitations
Vehicle Vehicle
Stability Controllability Sensitivity Loads
Optimum Flying Qualities in Nature Optimum Flying Qualities in Nature
The Vehicle: The Vehicle:
Zanonia Macrocarpa
Zanonia Macrocarpa
Optimum Stability
Optimum Controllability
5
The MMI of Integrated Flight Systems The MMI of Integrated Flight Systems
Problem: Flight-critical Workload Man-Machine Man-Machine Interface Interface
Knowledge Perceptions Reactions Decisionmaking
Pilot Pilot
The Role of a good pilot.wmv

Man-Machine Man-Machine Interface Interface
Problem: Flight-physical Limitations
Vehicle Vehicle
Stability Controllability Sensitivity Loads
Systems Systems
Displays Sensors Processors Effectors
Problem: Flight-critical System Failures
What Effects on Flying Qualities?

Contents Contents
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 3 5 minutes test time F.Q. Criteria non-existent
Mach Tuck
archaic test archaic test equipment equipment
Rudy Opitz Rudy Opitz
8
F.Q. Research: Artificial Stability (1944) F.Q. Research: Artificial Stability (1944)
Rudder
Hs 129 Snaking Tendency Separate Surface Control

Pilot Control (Rudder) Automatic Control (Yaw Damper)
Contents Contents
Early Aircraft F.Q. Research (1955-57) Early Aircraft F.Q. Research (1955-57)
LF-1 Zaunknig: Foolproof-F.Q. Research
~ 1941 1st Flight: 17.12.40
(Vmin ~ 47km/h) (Vmin ~ 47km/h)
H. Winter, 1957
peter.hamel@alum.mit.edu DGLR/EADS Manching 11. November 2008
ILA, 1988
11
Early Rotorcraft F.Q. Research (1960/63) Early Rotorcraft F.Q. Research (1960/63)
Vertol H-21C
Focke Kolibri I
Early Rotorcraft F.Q. Research (1961) Early Rotorcraft F.Q. Research (1961)
Bristol Sycamore Bristol Sycamore 2
Frequency Response Frequency Response Pitch Rate/long. Stick Rate Gyro Pitch Rate/long. Stick Rate Gyro
.2
.4
.6
.8
Hz
1
13
Early Aircraft F.Q. Research (1963) Early Aircraft F.Q. Research (1963)
100
/st
10 1.0 0.1 0.01 0.01
Basic Control Basic Control Dornier Do 27 Dornier Do 27 Pitch Attitude Control Pitch Attitude Control Augmentation Augmentation
14
Artificial Pitch Damping Artificial Pitch Damping

0.1 0.1 1.0 rad/sec 10 1.0 rad/sec 10
German Franco Cooperation (Flight Tests in Istris)
Early Rotorcraft F.Q. Research (1965) Early Rotorcraft F.Q. Research (1965)
Pitch Pitch Damping Damping
good good
SA Super Frelon
Pitch Control Effectiveness Pitch Control Effectiveness

DGLR/EADS Manching 11. November 2008 15
Contents Contents
Introduction Flying Qualities Challenges during WW II Early Flying Qualities Research after WW II Flying Qualities Research since 1970 Transatlantic Cooperation Project Support Resume
In-Flight Simulator (IFS) HFB-320 FLISI In-Flight Simulator (IFS) HFB-320 FLISI
1973-1984
17
In-Flight Simulator HFB-320 FLISI (Layout) In-Flight Simulator HFB-320 FLISI (Layout)
T e s t E le c t r o n ic D ig it a l C o m p u t e r O p e r a t o r s C o n s o le H y d r a u lic P o w e r P a c k a g e s R u d d e r
F lig h t L o g
E le v a t o r a c t u a t o r
R u d d e r A c tu a to r
D ig it a l T a p e R e c o r d e r A n a lo g T a p e R e c o r d e r E v a lu a t io n P ilo t
T h r o t t le A c t u a t o r
E le v a t o r
V a n e S a f e t y P ilo t D a t a A q u is it io n S y s t e m A ile r o n A c t u a t o r D L C F la p A c t u a t o r D ir e c t L if t F la p
FBW-Effectors
18
Effect of D.L.C. on F.Q.: HFB-320 FLISI (1973) Effect of D.L.C. on F.Q.: HFB-320 FLISI (1973)
K = Flap/Elevator Gearing Ratio CAP Criterion for D.L.C. not relevant

Tightend Frequency Neighbourhood between Pitch & Path Control

19
Effect of Control Law on F.Q.: HFB-320 FLISI Effect of Control Law on F.Q.: HFB-320 FLISI
Long./Lat. Rate-Command/Attitude-Hold: Sidegrip Control
RC/AH Systemarchitecture
Landing Approach in Turbulence

20
Effect of Time Delay on F.Q.: HFB-320 FLISI Effect of Time Delay on F.Q.: HFB-320 FLISI
Time Delay
21
Effect of Static Margin on F.Q.: HFB-320 FLISI Effect of Static Margin on F.Q.: HFB-320 FLISI
55% MAC
22
In-Flight Simulator BO-105 ATTHeS In-Flight Simulator BO-105 ATTHeS
Flight over Brocken Mountain Flight over Brocken Mountain after German Unification 1990 after German Unification 1990
Autonomous Tracking Flight Autonomous Tracking Flight above moving Target 1994 above moving Target 1994
1982-1995
Modeling Effects on IFS Quality: BO-105 ATTHeS Modeling Effects on IFS Quality: BO-105 ATTHeS
IFS: IFS: In-flight In-flight Simulation Simulation

Effect of Decoupling on F.Q.: BO-105 ATTHeS Effect of Decoupling on F.Q.: BO-105 ATTHeS
Explicit Model-Following Control Explicit Model-Following Control Explicit Model-Following Control Explicit Model-Following Control
RotorRotorDecoupling Decoupling
Inflight Simulator VFW-614 ATTAS (since 1986) Inflight Simulator VFW-614 ATTAS (since 1986)
O n -b o a rd c o m p u te rs C o m p u te r O p e ra to r E x p e r im e n te r
6
D a ta A c q u is itio n , R e c o r d in g , A v io n ic , T e le m e tr y
R u d d e r E le v a to r S ta b iliz e r
S a fe ty p ilo t
3 2 1
D ir e c t lift fla p s L a n d in g fla p s F la p e r o n s
A ir flo w s e n s o r S im u la tio n c o c k p it
F lig h te n g in e e r
E n g in e s
D a ta A c q u is itio n S y s te m O p e ra to r
F ly - b y - W ir e M o tiv a to r s
26
ATTAS In-Flight Simulation: Hermes Spaceplane ATTAS In-Flight Simulation: Hermes Spaceplane
Magnitude Error Magnitude Error
Landing Approach Landing Approach

2 0 S id e s tic k r o ll c o m m a n d , d e g /s
Flight Control Flight Control Law: RC/AH Law: RC/AH
Phase Error Phase Error
0 -2 0
4 0
B a n k a n g le , d e g
M o d e l
A T T A S
-4 0 0
1 0
2 0
T im e
3 0
4 0
5 0
Oscillatory Pilot Vehicle Interactions (1) Oscillatory Pilot Vehicle Interactions (1)
Control Pumping: HFB-320 FLISI
Intuitional Testing of Control Effectiveness
28
Rotorcraft-Pilot Coupling (RPC): CAT I
BO-105 ATTHeS: Time Delay Effects
P i lo t lo R ool Pl Iinnpt uut t R (ll% I ) p (% ) 44 0 0
00 88 0 0
A t t itit uddee C oom m aanndd w itit h 116600 m sseecc aaddddeedd D eela yy A tt u C mm w h m D la

P r oo n o u n c e d R P C - S itu aa tio n P r n o u n c e d R P C - S itu tio n
B aannkk AB nggl ee n l (Adeegg) ) d (
22 0 0 00 --2 0 20 00 11 0 0 22 0 0 33 0 0 TT imee , ( ss e c ) im , ( e c ) 44 0 0 55 0 0
0.3 Phase 0.3 Phase Delay Delay 0.2 p 0.2 p

(sec) (sec)
Level 33 Level
BO-105 ATTHeS Basic BO-105 ATTHeS + AC + 160msec

5 5
0.1 0.1
0 0 1 1 2 2
Level 22 Level Level 11 Level

Bandwidth BW (rad/sec) Bandwidth BW (rad/sec)
3 3 4 4
ADS 33D Bandwidth Criterion feasible

Rotorcraft-Pilot Coupling (RPC): CAT I/III
BO-105 ATTHeS: Time Delay/Biodynamic Coupling
Task: Sidestep Target: Moving Car Control Law: Att. Command Added Delay: 100msec
No Criteria
30
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
Aircraft-Pilot Coupling (APC):
CAT II: Rate Saturation
APC-prone
APC
OLOP Validation Data Base

In-Flight Simulation In-Flight Simulation
Nonlinear Simulation Nonlinear Simulation
OLOP-Locus
APC
APC
32
Control Ratcheting (1):
Biodynamic Feedback Multibody-Pilot-Model
4 sec 40 deg/sec 4 sec
40 deg/sec
Biomechanical Model (Koehler)

F-16XL Flight Data Nonl. Simulation

33
Control Ratcheting (2):
Biodynamic Feedback Multibody-Pilot-Model Cluster
Area of potential Roll Ratcheting (RR)
Combined Modeling Approach
MATLAB/SIMULINK/ SIMPACK
Biomechanic Pilot Models (Hoehne)

4 Biomechanic Models predicting F-16XL RR

34
Contents Contents
Introduction Flying Qualities Challenges during WW II Early Flying Qualities Research after WW II Flying Qualities Research since 1970 Transatlantic Scientific Cooperation Project Support Resum
Transatlantic Scientific Cooperation Transatlantic Scientific Cooperation
1979 1988 1979 1988
1979 2010 1979 2010
36
USAF-FMOD MoU: GRATE/ATLAS USAF-FMOD MoU: GRATE/ATLAS
Multi Target Sequential Lighting System
Road Map Road Map
USAF-FMOD MoU
37
GRATE/ATLAS Evaluation of Grumman X-29A GRATE/ATLAS Evaluation of Grumman X-29A
38
GRATE/ATLAS Flight Experiment with NT-33A GRATE/ATLAS Flight Experiment with NT-33A
39
GRATE/ATLAS Conclusions GRATE/ATLAS Conclusions

Sequential Target Light Tracking extremely effective Apparent Randomness of Light Sequences raises Pilot Gain Eliminating precognitive Behaviour Suitable for all Types of Flight Vehicles Recommeded by USAF TPS to become standard
DLR/NASA/USAF Flight Test Team
Chris Blanken
41
Chris Blanken
42
Chris Blanken
43
Chris Blanken
44
Chris Blanken
45
Contents Contents
Tornado Tornado
Introduction
High Risk Programs High Risk Programs R.Q. Do 228 TNT OLGA R.Q. Do 228 TNT OLGA
USMil Specs USMil Specs
A 310 A-310/A-3XX IFS Flying Qualities Challenges during WW II A 310 IFS Hermes Hermes/HTA IFS Hermes IFS Early Flying Qualities Research after WW II
Flying Qualities Research since 1970 Transatlantic

Strato 2C
Eurofighter SAFIR Eurofighter
HQDD IFS HQDD
Project Support Resum

Eurofighter HQDD Do 728 Extreme F.Q Do 728 Extreme F.Q Cooperation IFS IFS Do 728 Strato 2C IFS Strato 2C Extreme X-31A/VECTOR F.Q.
X-31A/VECTOR
X-31
Extreme F.Q.
46
Extreme F.Q. Testing: Strato 2C (1995) Extreme F.Q. Testing: Strato 2C (1995)
Worlds largest Composite Structure Large control friction Local Flow Separations Low Speed Stability Low Yaw Damping Sluggish Roll Control Low Force Gradients
Unoff. World Altitude Record: 18,3km = 60.000ft

Extreme F.Q. Testing: Strato 2C (1995) Extreme F.Q. Testing: Strato 2C (1995)
ad-hoc Fixes:
Ventral Fin Control Column Down Spring Yaw Damper Manual Control Allocation on Final:
Pilot 1 (PiC): Attitude Control & Alignment Pilot 2:
Speed & Flight Path Control

48
Extreme F.Q. Research: X-31A/VECTOR Extreme F.Q. Research: X-31A/VECTOR

1990-1995
FADS
EFM
VECTOR
1999-2003
Integrated Thrust Vector Control for Improved F.Q. Large Amplitude Maneuvers Aerodynamic Hysteresis Integrated Flush Air Data System FADS verified & validated
High AOA F.Q. Research: X-31A VECTOR High AOA F.Q. Research: X-31A VECTOR
Effects of Dynamic Lift Effects of Dynamic Lift
Unsteady Steady
Original Data Set
Multi-run Identification: Multi-run Identification: 29 Maneuvers 29 Maneuvers
The DLR X-31A Team-BS/OP

Contents Contents
Introduction Flying Qualities Challenges during WW II Early Flying Qualities Research after WW II Flying Qualities Research since 1970 Transatlantic Cooperation Project Support Resume & Lessons Learned
In-Flight Simulator Projects realized In-Flight Simulator Projects realized

HFB-320 FLISI HFB-320 FLISI BO-105 ATTHeS BO-105 ATTHeS
1972-1984
1982-1995
VFW-614 ATTAS VFW-614 ATTAS
EC-135 FHS EC-135 FHS
1986-2010
2001-2020
52
International Symposium on IFS - 1991 International Symposium on IFS - 1991
Author: Michael Mecham
Airborne simulation is driving force in advanced control system research

AW&ST, October 7, 1991, 8 Pages
53
DLR FRI*-WTD-61 Workshop on IFS -- 1993 DLR FRI*-WTD-61 Workshop on IFS 1993
*Gromov Flight Reserch Institute

Former Members of our F.Q. Testing Family Former Members of our F.Q. Testing Family
Bob Woodcock
USAF-FDL
Duane McRuer
STI
Claude Lelaye
Airbus
Ron Gerdes
NASA-Ames
Bob Harper
Calspan
55
Reunion with 4 former Directors of AFFTC Reunion with 4 former Directors of AFFTC
Edwards AFB, 21.10.1988 Edwards AFB, 21.10.1988
Fred Stoliker Fred Stoliker
PeteAdolph PeteAdolph
Al Philips Al Philips
Dick Hildebrandt Dick Hildebrandt
56
Resum & Lessons Learned Resum & 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,
L: Long Life Learning
Collaboration, Collaboration
> no Lawyers, please (this keeps not only Pilots happy)
Final
58
In-Flight Simulator - Projects cancelled (I) In-Flight Simulator - Projects cancelled (I)
1984
1984
59
In-Flight Simulator - Projects cancelled (II) In-Flight Simulator - Projects cancelled (II)
1986
60

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A Selected Review of Flying A Selected Review of Flying Qualities Research at DLR Qualities Research at DLR

Peter Hamel Peter Hamel Braunschweig Braunschweig Germany Germany

DGLR/EADS Manching 11. November 2008

FJS & Hermann Blenk 1958

DGLR/EADS Manching 11. November 2008

Problem: Flight-physical Limitations

Stability Controllability Sensitivity Loads

DGLR/EADS Manching 11. November 2008

Optimum Flying Qualities in Nature Optimum Flying Qualities in Nature

The Vehicle: The Vehicle:

DGLR/EADS Manching 11. November 2008

The Role of a good pilot.wmv

Problem: Flight-physical Limitations

Stability Controllability Sensitivity Loads

Problem: Flight-critical System Failures

What Effects on Flying Qualities?

DGLR/EADS Manching 11. November 2008

Hs 129 Snaking Tendency Separate Surface Control

(Vmin ~ 47km/h) (Vmin ~ 47km/h)

Bristol Sycamore Bristol Sycamore 2

DGLR/EADS Manching 11. November 2008

Artificial Pitch Damping Artificial Pitch Damping

DGLR/EADS Manching 11. November 2008

German Franco Cooperation (Flight Tests in Istris)

Pitch Pitch Damping Damping

Pitch Control Effectiveness Pitch Control Effectiveness

DGLR/EADS Manching 11. November 2008

K = Flap/Elevator Gearing Ratio CAP Criterion for D.L.C. not relevant

Tightend Frequency Neighbourhood between Pitch & Path Control

Landing Approach in Turbulence

DGLR/EADS Manching 11. November 2008

DGLR/EADS Manching 11. November 2008

DGLR/EADS Manching 11. November 2008

In-Flight Simulator BO-105 ATTHeS In-Flight Simulator BO-105 ATTHeS

IFS: IFS: In-flight In-flight Simulation Simulation

D ir e c t lift fla p s L a n d in g fla p s F la p e r o n s

DGLR/EADS Manching 11. November 2008

Landing Approach Landing Approach

Flight Control Flight Control Law: RC/AH Law: RC/AH

Phase Error Phase Error

DGLR/EADS Manching 11. November 2008

A t t itit uddee C oom m aanndd w itit h 116600 m sseecc aaddddeedd D eela yy A tt u C mm w h m D la

B aannkk AB nggl ee n l (Adeegg) ) d (

0.3 Phase 0.3 Phase Delay Delay 0.2 p 0.2 p

BO-105 ATTHeS Basic BO-105 ATTHeS + AC + 160msec

Level 22 Level Level 11 Level

ADS 33D Bandwidth Criterion feasible

DGLR/EADS Manching 11. November 2008

OLOP Validation Data Base

Nonlinear Simulation Nonlinear Simulation

DGLR/EADS Manching 11. November 2008

4 sec 40 deg/sec 4 sec

Biomechanical Model (Koehler)

F-16XL Flight Data Nonl. Simulation

DGLR/EADS Manching 11. November 2008

Combined Modeling Approach

Biomechanic Pilot Models (Hoehne)

4 Biomechanic Models predicting F-16XL RR

DGLR/EADS Manching 11. November 2008

Transatlantic Scientific Cooperation Transatlantic Scientific Cooperation

1979 1988 1979 1988

1979 2010 1979 2010

DGLR/EADS Manching 11. November 2008