TRAJECTORY TRACKING FLIGHT CONTROLLER
First Claim
1. An apparatus, comprising:
- a trajectory planner adapted to produce a command position vector for a fixed-wing aircraft;
a TLC architecture electrically coupled to the trajectory planner to receive the command position vector from the trajectory planner;
an avionic sensor electrically couple to the TLC architecture to send a sensed parameter to the TLC architecture; and
a control actuator electronically coupled to the TLC architecture to receive a control signal from the TLC architecture;
wherein the TLC architecture includes;
a processor; and
program code configured to execute on the processor to generate the control signal by;
determining in a first control loop a nominal body velocity vector and a feedback control body velocity command vector using the command position vector from the trajectory planner;
determining in a second control loop a nominal Euler angle vector, a feedback control Euler angle command vector, and a throttle setting feedback control command using the nominal body velocity vector and the feedback control body velocity command vector from the first control loop;
determining in a third control loop a nominal body rate vector and a feedback control body rate command vector using the nominal Euler angle vector and the feedback control Euler angle command vector from the second control loop;
determining in a fourth control loop a moment command vector using the nominal body rate vector and the feedback control body rate command vector from the third control loop; and
determining the control signal using the moment command vector from the fourth control loop.
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Abstract
A six degree-of-freedom trajectory linearization controller (TLC) architecture (30) for a fixed-wing aircraft (46) is set forth. The TLC architecture (30) calculates nominal force and moment commands by dynamic inversion of the nonlinear equations of motion. A linear time-varying (LTV) tracking error regulator provides exponential stability of the tracking error dynamics and robustness to model uncertainty and error. The basic control loop includes a closed-loop, LTV stabilizing controller (12), a pseudo-inverse plant model (14), and a nonlinear plant model(16). Four of the basic control loops (34, 36, 40, 42) are nested to form the TLC architecture (30).
26 Citations
20 Claims
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1. An apparatus, comprising:
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a trajectory planner adapted to produce a command position vector for a fixed-wing aircraft; a TLC architecture electrically coupled to the trajectory planner to receive the command position vector from the trajectory planner; an avionic sensor electrically couple to the TLC architecture to send a sensed parameter to the TLC architecture; and a control actuator electronically coupled to the TLC architecture to receive a control signal from the TLC architecture; wherein the TLC architecture includes; a processor; and program code configured to execute on the processor to generate the control signal by; determining in a first control loop a nominal body velocity vector and a feedback control body velocity command vector using the command position vector from the trajectory planner; determining in a second control loop a nominal Euler angle vector, a feedback control Euler angle command vector, and a throttle setting feedback control command using the nominal body velocity vector and the feedback control body velocity command vector from the first control loop; determining in a third control loop a nominal body rate vector and a feedback control body rate command vector using the nominal Euler angle vector and the feedback control Euler angle command vector from the second control loop; determining in a fourth control loop a moment command vector using the nominal body rate vector and the feedback control body rate command vector from the third control loop; and determining the control signal using the moment command vector from the fourth control loop. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. The apparatus of claim further comprising:
an aircraft having an airframe and a control effector, the control effector being adapted to receive the control signal from the control actuator. - View Dependent Claims (10)
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11. A method of generating a control signal, the method comprising:
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determining using a hardware implemented processor in a first control loop a nominal body velocity vector and a feedback control body velocity command vector using a command position vector for a fixed-wing aircraft from a trajectory planner; determining using the processor in a second control loop a nominal Euler angle vector, a feedback control Euler angle command vector, and a throttle setting feedback control command using the nominal body velocity vector and the feedback control body velocity command vector from the first control loop; determining using the processor in a third control loop a nominal body rate vector and a feedback control body rate command vector using the nominal Euler angle vector and the feedback control Euler angle command vector from the second control loop; determining using the processor in a fourth control loop a moment command vector using the nominal body rate vector and the feedback control body rate command vector from the third control loop; and determining using the processor a control signal using the moment command vector from the fourth control loop. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A program product, comprising:
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a computer readable medium; and program code stored on the computer readable medium, the program code configured to execute on a hardware implemented processor to generate a control signal by; determining in a first control loop a nominal body velocity vector and a feedback control body velocity command vector using the command position vector from a trajectory planner; determining in a second control loop a nominal Euler angle vector, a feedback control Euler angle command vector, and a throttle setting feedback control command using the nominal body velocity vector and the feedback control body velocity command vector from the first control loop; determining in a third control loop a nominal body rate vector and a feedback control body rate command vector using the nominal Euler angle vector and the feedback control Euler angle command vector from the second control loop; determining in a fourth control loop a moment command vector using the nominal body rate vector and the feedback control body rate command vector from the third control loop; and determining the control signal using the moment command vector from the fourth control loop.
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Specification