Modelling an Angular Accelerometer using Frequency-Response Measurements

Jatiningrum, Dyah; Visser, Coen C. de; Paassen, M.M. van

doi:10.2514/6.2016-1139

Cited by 5 publications

(5 citation statements)

References 9 publications

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“…A model was made by Jatiningrum using frequency-Response Measurements of the angular accelerometers on a test bench. [6] Using the direct angular acceleration measurements provided by these sensors, instead of those derived from the angular rate measurements, is expected to improve the performance of both INDI and IBS by reducing the system delay. [7] Contribution The contribution of this paper is twofold.…”

Section: Previous Flight Testsmentioning

confidence: 99%

“…The angular accelerometers installed in the experimental sensor bay of the PH-LAB especially for this research are of the type SR-207RFR and were modelled by Jatiningrum et al [6]. In this research their 5 th order non-minimum phase model is used.The transfer function of this model is shown in equation 14.…”

Section: A Equations Of Motionmentioning

confidence: 99%

“…The static noise level of the angular accelerometers is determined to be 1.4703 • 10 −6 [rad/s 2 ] by Çakiroğlu [7] based on data from the research by Jatiningrum [6]. Furthermore the range, resolution and bias used are 10[rad/s 2 ], 0.001[rad/s 2 ] and ±0.01VDC → 0.04rad/s 2 respectively.…”

Section: A Equations Of Motionmentioning

confidence: 99%

See 2 more Smart Citations

Design and Flight Testing of Incremental Backstepping based Control Laws with Angular Accelerometer Feedback

Keijzer

Looye

Chu

et al. 2019

AIAA Scitech 2019 Forum

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This paper discusses the design, implementation and flight testing of an incremental Backstepping (IBS) based manual flight control law with angular accelerometer (AA) feedback. The main advantages of incremental control laws is that they only require a partial model of the system and are of low complexity. Incremental control laws for aircraft rotational motion, however, need angular acceleration measurements to compute the control increments. Previously, estimates based on angular rate measurements were used for this. The newly implemented AA feedback is expected to improve the performance by decreasing the sensor delay. The manual control laws command roll rate/angle, side slip angle and angle of attack and have been implemented on a Cessna Citation II aircraft, which is equipped with an experimental fly-by-wire system. The IBS based control law has an integrated integral control term and uses Pseudo Control Hedging to handle actuator saturations. A load factor outerloop has been added to improve the manual flyability. The IBS based control law has highly satisfactory performance in flight. Test manoeuvres included standard roll and load factor commands and asymmetric thrust handling. Fault tolerance has been compared in a nonlinear simulation for the controllers with and without AA feedback in simulation. In general, the angular accelerometer feedback improved the tolerance to mismatch substantially. Nomenclature A x , A y , A z Linear accelerations along body x,y, and z axis, g C D,Y, L Dimensionless Force coefficients along stability x,y, and z axis C l,m,n Dimensionless Moment coefficients around body x,y, and z axis F A , F T Aerodynamic and Propulsive Force vectors, N G Control dependent part of the model I Inertia matrix, kgm 2 K Gain M A ,M T Aerodynamic and Propulsive Moment vectors, Nm M Mach number S Wing surface area, m 2 T AB Rotation Matrix from reference frame B to A V Velocity vector, m/s V TAS , V CAS True air speed and calibrated air speed, m/s V Lyapunov function W Weight, N X, Y, Z Position, m b Wing span, m 2 c Mean aerodynamic chord, m f Control independent part of the model f x , f y , f z Specific forces along body x,y, and z axis, g g Gravitational acceleration, m/s 2

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Section: Previous Flight Testsmentioning

confidence: 99%

Section: A Equations Of Motionmentioning

confidence: 99%

See 1 more Smart Citation

Design and Flight Testing of Incremental Backstepping based Control Laws with Angular Accelerometer Feedback

Keijzer

Looye

Chu

et al. 2019

AIAA Scitech 2019 Forum

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show abstract

“…Although the maximum bandwidth by design could reach up to 30 Hz for the inner-axis and 20 Hz for the outer-axis, the actual setup requires the terminal frequency to be 11 Hz. 17 The terminal frequency is subsequently reduced to 11 Hz, with consideration of the customized sensor Data Acquisition System (DAS) weight installed on the table top. Two other restrictions are the angular velocity and angular acceleration limits, for which this equipment has different boundaries on its inner and outer-axis.…”

Section: A Determining the Performance Envelopementioning

confidence: 99%

Motion Simulator 2-Axis Input Design for Angular Accelerometer Calibration

Jatiningrum

Visser

Paassen

2016

AIAA Modeling and Simulation Technologies Conference

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The calibration of Angular Accelerometers requires a controlled test with a known acceleration profile. However, current turntables have been designed primarily for generating a constant rotational velocity. To generate a profile with varying angular acceleration we propose using constant rotational velocity on the two axes of a 2-axes motion simulator. The proposed sequence was developed to obtain the required rotational acceleration signal quality using only rotational velocity input. The identified pattern is applied to an envelope of test conditions, resulting in test matrix. This method provides an alternative means to generate inputs that can be used to calibrate angular accelerometers using calibration hardware that is not primarily designed to provide accurate acceleration inputs. Nomenclature AA Angular accelerometer DAS Data Acquisition System IMU Inertial Measurement Units PSD Power Spectral Density Subscripts i Inner-axis o Outer-axis Symbols α Angular acceleration, deg/s 2 i Unit vector in X-axis j Unit vector in Y-axis k Unit vector in Z-axis ω Angular velocity, deg/s ψ Inner-axis rotation angle, deg ω Associated angular velocity, deg/s r Radius of a circle, m SXY Z Coordinate System t Time, s

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“…As the sensor measurements also contain external disturbances, the controller compensates for their influences, making it more robust. However, for this type of controller to work, time derivatives of the controlled variables are required, given by nonlinear state observers or a new class of inertial sensors as angular accelerometers [15,16].…”

Section: Introductionmentioning

confidence: 99%

Incremental Nonlinear Control Allocation for an Aircraft with Distributed Electric Propulsion

Heer

Visser

Hoogendoorn³

et al. 2023

AIAA SCITECH 2023 Forum

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In this paper, a new nonlinear control allocation method is presented for a distributed electric propulsion (DEP) aircraft. As the electric propellers can be used actively for control, in addition to the control surfaces, the DEP aircraft is over-actuated. This freedom in control effectors can be exploited with an appropriate control allocation method. All control effectors are, therefore, captured in the incremental nonlinear control allocation (INCA) method, which allows taking into account effector nonlinearities and interactions introduced by the propellers. The INCA method is based on a real-time updated Jacobian model of the control effectiveness, thereby solving an efficient linear control allocation problem. This paper reformulates the original INCA method to optimize the control allocation for minimal propeller power, resulting in more efficient flight. A model predictive control (MPC) controller is added as an actuator dynamics compensation method. This ensures that the commanded control inputs from the INCA controller are achieved. The new controller is compared to a standard incremental nonlinear dynamic inversion (INDI) controller with a translational and rotational loop. It is shown in simulation that by combining INCA with MPC, the tracking performance is improved and efficiency increased by 6.1%.

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Modelling an Angular Accelerometer using Frequency-Response Measurements

Cited by 5 publications

References 9 publications

Design and Flight Testing of Incremental Backstepping based Control Laws with Angular Accelerometer Feedback

Design and Flight Testing of Incremental Backstepping based Control Laws with Angular Accelerometer Feedback

Motion Simulator 2-Axis Input Design for Angular Accelerometer Calibration

Incremental Nonlinear Control Allocation for an Aircraft with Distributed Electric Propulsion

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