Method, apparatus and design procedure for controlling multi-input, multi-output (MIMO) parameter dependent systems using feedback LTI'zation

• US 6,539,290 B1
• Filed: 05/30/2000
• Issued: 03/25/2003
• Est. Priority Date: 06/07/1995
• Status: Expired due to Term

• Current Assignee: Rockwell Collins Control Technologies, Inc. (Rtx Corporation)
• Original Assignee: Dabulamanzi Holdings, LLC
• Inventors: Vos, David W.
• Primary Examiner(s): Nguyen, Tan
• Assistant Examiner(s): Tran, Dalena
• Application Number:
  US09/580,587
• Time in Patent Office: 1,029 Days
• Field of Search: 701/3, 701/4, 701/10, 701/14, 701/16, 244/181, 244/191, 244/195, 244/183, 244/76.R, 244/194, 244/17.11, 244/17.13
• US Class Current: 701/3
• CPC Class Codes: G05B 11/32 with inputs from more than one sensing element; with outputs to more than one correcting element
• CPC Class Codes: G05B 13/042 in which a parameter or coefficient is automatically adjusted to optimise the performance
• CPC Class Codes: G05B 9/02 electric
• CPC Class Codes: G05B 9/03 with multiple-channel loop, i.e. redundant control systems
• CPC Class Codes: G05D 1/0825 using mathematical models

Abstract

A method and apparatus are provided for controlling a dynamic device having multi-inputs and operating in an environment having multiple operating parameters. A method of designing flight control laws using multi-input, multi-output feedback LTI'"'"'zation is also provided. The method includes steps of: (i) determining coordinates for flight vehicle equations of motion; (ii) transforming the coordinates for the flight vehicle equations of motion into a multi-input linear time invariant system; (iii) establishing control laws yielding the transformed equations of motion LTI; (iv) adjusting the control laws to obtain a desired closed loop behavior for the controlled system; and (v) converting the transformed coordinates control laws to physical coordinates.

Claims

1. A method of designing flight control laws using multi-input, multi-output feedback LTI'"'"'zation, said method comprising the following steps:

determining coordinates for flight vehicle equations of motion;

transforming the coordinates for the flight vehicle equations of motion into a multi-input linear time invariant system;

establishing control laws yielding the transformed equations of motion LTI;

adjusting the control laws to obtain a desired closed loop behavior for the controlled system; and

converting the transformed coordinates control laws to physical coordinates.

2. The method according to claim 1, wherein the step of transforming the coordinates for the flight vehicle equations of motion into a multi-input linear time invariant system further comprises:

a). establishing a linear parameter dependent coordinates transformation; and

b). applying the transformation in step a). to said equations of motion together with feedback LTI'"'"'ing control laws to yield said multi-input linear time invariant system.

3. The method according to claim 1, wherein said transformed equation of motion LTI are configured such that the dynamic behavior of a dynamic system is substantially independent of operating conditions or operating parameters.

4. The method according to claim 1, wherein the step of transforming the coordinates for the flight vehicle equations of motion yields a set of integrators that are independent of flight vehicle operating conditions.

5. The method according to claim 1, wherein the step of adjusting the control laws comprises selecting a gain based on the current operating conditions.

6. The method according to claim 5, wherein said current operating conditions are provided by sensors.

7. The method according to claim 5, wherein said gain is selected at predetermined intervals.

8. The method according to claim 7, wherein said predetermined interval is configured to optimize said flight control laws.

9. The method according to claim 5, further comprising the steps of:

a). evaluating a predetermined number of parameters in an operating envelope of a system to be controlled;

b). generating a gain value associated with each said parameter;

c). determining a gain value associated with said current operating condition based on the gain values generated in step b).

10. The method according to claim 9, wherein step c). is performed by linear interpolation.

11. The method according to claim 9, wherein step c). is performed by curve fitting.

12. The method according to claim 9, wherein step c). is performed by extrapolation.

13. Computer executable software stored on a computer or processor readable medium, the code for developing control laws for a dynamic device having device characteristics, the code comprising;

code to transform the device characteristics into a multi-input linear time invariant system;

code to establish control criteria yielding the device characteristics in the transformed coordinates LTI;

code to define at least one design point in the multi-input linear time invariant system;

code to adjust the transformations to corresponding with the design point(s);

code to develop a physical coordinates control law corresponding to the adjusted transformations; and

code to apply reverse transformations to cover the full design envelope.

14. The computer executable software of claim 13, wherein said dynamic device is a flight vehicle.

15. The computer executable software of claim 14, wherein said flight vehicle is unmanned.

16. The computer executable software of claim 13, wherein said code to establish control criteria further comprises:

code to establish a linear parameter dependent coordinates transformation; and

,

code applying the transformation in to said equations of motion together with feedback LTI'"'"'ing control laws to yield said multi-input linear time invariant system.

17. The computer executable software of claim 13, wherein the code to adjust the transformations to correspond with the design point(s) comprises code to select a current gain value.

18. The computer executable software of claim 17, wherein said code to select a current gain further comprises:

code to evaluate a predetermined number of parameters in an operating envelope of said dynamic device to yield a plurality of predetermined gain values associated with said predetermined parameters; and

,

code to select said current gain value associated with the current operating condition based on said predetermined gain values.

19. The computer executable software of claim 18, wherein said code to select said appropriate gain value associated with the current operating conditions utilizes linear interpolation.

20. The computer executable software of claim 18, wherein said code to select said appropriate gain value associated with the current operating conditions utilizes curve fitting.

21. The computer executable software of claim 18, wherein said code to select said appropriate gain value associated with the current operating conditions utilizes a lookup table.

22. A multi-input parameter dependent control system for controlling an aircraft, said system comprising;

receiving means for receiving a plurality of aircraft status signals and for receiving a plurality of current parameters signals;

memory having at least one region for storing computer executable code; and

a processor for executing the program code, wherein the program code includes code responsive to;

(i) transform the aircraft characteristics into a multi-input linear time invariant system;

(ii) select and apply gain schedules to flight control laws in transformed coordinates, the gain schedules corresponding to the received current parameter signals;

(iii) determine parameter rates of change, and to apply the parameter rates of change to the flight control laws;

(iv) apply the received aircraft status signals to the flight control laws;

(v) convert the transformed coordinates control laws to physical coordinates; and

(vi) control the aircraft based on the updated flight control laws.

23. The system of claim 22 wherein said parameter signals are provided by a respective sensor coupled to said receiving means.

24. The system of claim 22, wherein said parameter signal represents one or more selected from the group consisting of airspeed, altimeter, yaw rate, bank angle, side slip, angle of attack, pitch rate, pitch attitude, and roll rate.

25. The system of claim 24 wherein said control surface is one or more selected from the group consisting of ailerons, rudder, elevator, canard, throttle and air brake.

26. The system of claim 22 further comprising actuator means in communication with a respective control surface of said aircraft, said actuator means responsive to signals from said processor.

27. The system of claim 22, wherein at least one said parameter signal is provided by a global positioning system.

28. The system of claim 22, wherein said program code further comprises code to compare a reference signal to a respective said aircraft status signal to yield an error value.

29. The system of claim 28, further comprising code responsive to continue executing said program code based on said error value.

30. A method of designing control laws for a dynamic device, the device accepting multiple inputs and generating multiple outputs and operating in an environment having varying parameters, characteristics of the device being definable by equations of motion, said method comprising the steps of:

transforming coordinates for the equations of motion into a linear-time invariant system; and

establishing a closed loop behavior in the linear time invariant system, wherein

said establishing step generates gain schedules for controlling the equations of motion throughout an operational envelope of the device.

31. The method according to claim 30, wherein the step of transforming the coordinates for the flight vehicle equations of motion into a multi-input linear time invariant system further comprises:

a). establishing a linear parameter dependent coordinates transformation; and

b). applying the transformation in step a). to said equations of motion together with feedback LTI'"'"'ing control laws to yield said multi-input linear time invariant system.

32. The method according to claim 30, wherein said closed loop behavior of said dynamic device is substantially independent of operating conditions or operating parameters.

33. The method according to claim 30, wherein the step of transforming the coordinates for the equations of motion yields a set of integrators that are independent of the dynamic device operating conditions.

34. The method according to claim 30, wherein said multiple inputs are provided by sensors coupled to a flight computer.

35. The method according to claim 30, further comprising the step of selecting a gain from said gain schedule based on said multiple inputs.

36. The method according to claim 35, wherein the selection of a gain from said gain schedule is updated at predetermined intervals of time.

37. The method according to claim 36, wherein said predetermined interval is selected to provide stable control laws.

38. The method according to claim 35, wherein the selection of said gains is performed by linear interpolation of said gain schedules.

39. The method according to claim 35, wherein the selection of said gains is performed by curve fitting.

40. The method according to claim 35, wherein the selection of said gains is performed by extrapolation.

41. A method of designing control laws for a dynamic device, the device accepting multiple inputs and generating multiple outputs, characteristics of the device being definable by equations of motion, said method comprising the steps of:

defining an operating envelope including varying parameters throughout the envelope;

determining control designs for a plurality of discrete points in the envelope;

transforming the plurality of discrete point designs to a linear time invariant system (z-space) to provide corresponding gains in z-space and interpolating between the gains in z-space to provide linearly blended gains; and

inversely transforming the z-space linearly blended gains to physical space.

42. The method according to claim 41, wherein the step transforming the plurality of discrete point designs to a linear time invariant system is performed by Feedback LTI'"'"'zation.

43. The method according to claim 41, wherein the step of interpolating between the gains in z-space defines a selected matrix of parameter values.

44. The method according to claim 43, further comprising the step of populating a lookup table with gain values associated with said selected matrix.

45. The method according to claim 44, wherein said lookup table covers the full operating envelope of said dynamic device.

46. The method according to claim 41, wherein said dynamic device is an aircraft.

47. The method according to claim 46, wherein said aircraft is unmanned.

48. The method according to claim 41, wherein the physical space gains respectively correspond to any operating conditions throughout the operating envelope, not necessarily the design conditions.

49. A method of designing control laws for a dynamic device, the device accepting multiple inputs and generating multiple outputs, characteristics of the device being defined by at least one control law, said method comprising the steps of:

determining in physical space gains corresponding to a discrete operating condition, the gains for use in the control law;

transforming the gains obtained at the discrete operating condition to a linear time invariant system (z-space) and obtaining corresponding gains in z-space; and

inversely transforming the z-space gains into physical space to correspond to a plurality of operating conditions throughout an envelope in which the device operates.

50. The method according to claim 49, wherein said dynamic device comprises an aircraft.

51. The method according to claim 49, further comprising the step of selecting a gain value corresponding to a current operating condition based on gain values corresponding to said plurality of operating conditions.

52. The method according to claim 51, wherein the step of selecting a gain value is performed by linear interpolation.

53. The method according to claim 51, wherein the step of selecting a gain value is performed by curve fitting.

54. The method according to claim 51, wherein the step of selecting a gain value is performed by extrapolation.

55. A method of designing control laws for a dynamic device, the device accepting multiple inputs and generating multiple outputs, the device operating in an environment having multiple parameters, said method comprising the steps of:

defining a control law comprising derivative, proportional and integral gains and device inputs; and

developing gain schedules to be applied to the control law so as to accommodate varying parameters, wherein

transforming device characteristics into a linear-time invariant system generates the gain schedules and provides a stable closed loop behavior for the transformed characteristics.

56. The method according to claim 55, wherein said gain schedules are developed in real time.

57. The method according to claim 55, wherein said gain schedules are developed in real time.

58. The method according to claim 55, wherein modal frequency magnitudes of said closed loop are not increased significantly over an associated open loop value.

59. The method according to claim 55, wherein said dynamic device comprises an aircraft.