Design and flight testing of various controllers for the Bell 205 helicopter

Postlethwaite, Ian; Prempain, Emmanuel; Türkog̃lu, Ercüment; Turner, Matthew C.; Ellis, Kris; Gubbels, Arthur

doi:10.1016/j.conengprac.2003.12.008

“…Table 2 shows the bandwidths, phase delays and handling quality level induced in the aircraft by the three controllers. In previous work (( Postlethwaite et al, 2005)) we were able to show a comparison between the predictions based on linear on-axis models and flight test data. Unfortunately, due to lack of time and a flight control computer crash, frequency sweep data was not collected for either controller.…”

Section: Quantitative Analysismentioning

confidence: 99%

Robust control applications

Postlethwaite

¹

,

Turner

²

,

Herrmann

³

2007

Annual Reviews in Control

Self Cite

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This paper (first presented as a plenary lecture at the 5th IFAC Symposium on Robust Control Design, Toulouse, July 2006) demonstrates the practical importance of robust control theory by describing its application to two non-trivial practical control problems. Part 1 considers helicopter control and Part 2 addresses saturation problems in high-performance head-positioning servo systems in high-density hard-disk drives.In Part 1, we present the design and flight test of a new batch of H ∞ controllers for the Bell 205 helicopter. At the heart of each controller is an H ∞ loop-shaping controller, augmented with a hand-tuned reference filter to improve tracking performance and to reduce a perceived phase lag which pilots had complained of previously. Flight testing revealed that, with such an architecture, it was relatively easy to get Level 1 handling qualities ratings in low aggression manoeuvres. Further fine tuning resulted in Level 1 qualities for high aggression manoeuvres and one controller performed to Level 1 standard in all manoeuvres tested.In Part 2, we consider how robust control techniques can be used to design anti-windup compensators to counter performance and stability problems associated with saturating actuators in state-of-the-art hard-disk drive servo systems. A promising two-stage approach is given and illustrated with experimental results.

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“…The vertical fin and horizontal empennage also adopted the modeling method in the single rotor helicopter [20,21]. It was supposed that the force and moment of the fuselage only downwash affected by lower rotor, but upper rotor doesn't.…”

Section: The Coaxial Rotormentioning

confidence: 99%

A Trimming Methodology for a New Coaxial Rotor Configuration of Robotic Helicopter Based on Rotor's Thrust Ratio

Dong¹,

Liu²,

Chen³

et al. 2017

IJCA

0

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“…The model used for controller design was the same as that used for the design of the controllers reported in (Postlethwaite et al, 2002;Postlethwaite et al, 2005). The model (Howell and communication, 2001), provided by QinetiQ (formerly DERA) was a 32-state nonlinear flight mechanic model of the Bell 205.…”

Section: Modelmentioning

confidence: 99%

“…It builds upon work reported in Postlethwaite et al (2002) and Postlethwaite et al (2005) where results on H ∞ control of the Bell 205 from flight tests in 2001 were reported. In turn that work progressed the work reported in Postlethwaite et al (1999) and Walker et al (1999) and references therein.…”

mentioning

confidence: 99%

“…In turn that work progressed the work reported in Postlethwaite et al (1999) and Walker et al (1999) and references therein. Postlethwaite et al (2002) and Postlethwaite et al (2005) described several controllers which yielded Level 1 behaviour, in terms of their achieved bandwidths and, essentially, borderline Level 1/2 behaviour handling qualities ratings from testpilots. Nevertheless, although successful, the pilots were not satisfied enough with the dynamic behaviour of the controllers to award level 1 handling qualities in all manoeuvres.…”

mentioning

confidence: 99%

See 1 more Smart Citation

Robust Control Applications

Postlethwaite

¹

,

Turner

²

,

Herrmann

³

2006

IFAC Proceedings Volumes

Self Cite

View full text Add to dashboard Cite

This paper (first presented as a plenary lecture at the 5th IFAC Symposium on Robust Control Design, Toulouse, July 2006) demonstrates the practical importance of robust control theory by describing its application to two non-trivial practical control problems. Part 1 considers helicopter control and Part 2 addresses saturation problems in high-performance head-positioning servo systems in high-density hard-disk drives.In Part 1, we present the design and flight test of a new batch of H ∞ controllers for the Bell 205 helicopter. At the heart of each controller is an H ∞ loop-shaping controller, augmented with a hand-tuned reference filter to improve tracking performance and to reduce a perceived phase lag which pilots had complained of previously. Flight testing revealed that, with such an architecture, it was relatively easy to get Level 1 handling qualities ratings in low aggression manoeuvres. Further fine tuning resulted in Level 1 qualities for high aggression manoeuvres and one controller performed to Level 1 standard in all manoeuvres tested.In Part 2, we consider how robust control techniques can be used to design anti-windup compensators to counter performance and stability problems associated with saturating actuators in state-of-the-art hard-disk drive servo systems. A promising two-stage approach is given and illustrated with experimental results.

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Design and flight testing of various controllers for the Bell 205 helicopter

Cited by 31 publications

References 7 publications

Robust control applications

Robust control applications

A Trimming Methodology for a New Coaxial Rotor Configuration of Robotic Helicopter Based on Rotor's Thrust Ratio

Robust Control Applications

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