This paper deals with persistent oscillations in position and attitude observed in flight on a piloted VTOL during precision hover. Properties of the oscillation are shown to correlate strongly with Cooper-Harper pilot ratings. A simple yet nonlinear pilot model is developed which predicts many of the properties of the pilot-inthe-loop system behavior.
Configuration 217CK+ N(E) PR ll s Tx Nomenclature = properties of the ideal relay with dead zone (Af=0.25 in., >1 =0.125 in.) = configuration C of X-22A flight 217 = error in X position, -X C -X (ft) = amplitude of sinusoidal input to nonlinear element N(E) = pilot position error gain (in./ft) = ratio of steady state x translational velocity per inch of pilot's stick position (ft/s/in.) . = minimum pilot position error gain to maintain a stable limit cycle (in./ft) = describing function gain which is a nonlinear function of sinusoidal input amplitude E = Cooper-Harper pilot rating (Ref. 1) = quantization nonlinearity, Fig.9 = Laplace operator for differentiation = equivalent path mode time constant, s = fore and aft position, ft = commanded position, ft = pilot's stick position (positive stick aft, in.) -modified stick position (positive stick forward, in.) = -d s = body-axis pitch attitude, deg = limit-cycle frequency