ن الرحيم الرحم بسم اIn the name of GOD
بسم ا الرحمن الرحيمIn the name of GOD
DEVELOPMENT OF FUZZY LOGIC LQR CONTROL DEVELOPMENT OF FUZZY LOGIC LQR CONTROL INTEGRATION FOR FULL MISSION MULTISTAGE INTEGRATION FOR FULL MISSION MULTISTAGE
AERIAL REFUELING AUTOPILOTAERIAL REFUELING AUTOPILOT
By Eng. Ahmed Momtaz Hosny
School of Astronautics, Beihang UniversityBeijing, China
2008
Aerial Refueling Significance
1-Most of fighter aircrafts can’t exceed a certain range of 2000 Km and endurance of about 2 hours according to the small fuel capacity
2-To perform an air domination and stability over far territories during the military operations specially for large number of fighters
3-Providing aerial refueling autopilot for each fighter aircraft permits the tanker aircraft to supply large number of fighters in short time without any mishaps that could happen during the manual process
Introduction to Air Force Aerial Refueling MethodsFlying Boom versus Hose-and-Drogue
Main Objectives
1- Satisfying Flying Qualities standard
2- Minimizing the mission time
3- Satisfying the Tanker-Fighter safety constraints
3 Stages Aerial Refueling Autopilot
1- Init ial Stabil i ty Stage (LQR)
2- Tracking stage (LQRIFL)
3- Alignment Stage (LQR with Phase Lead compensator)
F-16 Nonlinear model
F-16 Control Channels
Aircraft l inearized model
Aircraft Trimming at Prescribed points
Model Linearization using the Jacobean matrices
)()()()()( tutBtxtAtx +=•
)()()()()( tutDtxtCty +=
)()()( txtCty =
Aircraft Lateral Dynamics in Linearized form
1-Init ial Stabil i ty Stage1-Init ial Stabil i ty Stage
LQ Formulation of the Tracker Problem
Pitch Rate Controller
Lateral – Directional Controller
PID Fuzzy Logic Controller
LQ Integrated Fuzzy Logic Controller
Flowchart of GA Functions
Optimizing Fuzzy Output Gains
Tuning of Fuzzy Sets
Comparison between LQR with and without Fuzzy PID
for Longitudinal and Lateral Motion
Up to 8% improving the (PI)
2- Tracking Stage 2- Tracking Stage
Input Commands to Receiving Aircraft
3-Alignment Stage
Plane Formation Geometry
Alignment Stage Controller
Trajectory scenario in x-y plane for both wingman and leader
(Boeing KC 767 Tanker – Boom configuration) versus (KC-130J Tanker with Hose – Drogue configuration) (case study)
Control Strategy
Final Conclusion Final Conclusion
It is clear from the present work that there is some basic requirements should be satisfied in It is clear from the present work that there is some basic requirements should be satisfied in
order to establish efficient aerial refueling autopilots such as (1- f lying qualit ies requirements, 2- order to establish efficient aerial refueling autopilots such as (1- f lying qualit ies requirements, 2-
safety and secured approaching in the final docking, 3- minimization the whole mission time safety and secured approaching in the final docking, 3- minimization the whole mission time
period) which implies that a multistage autopilot is needed for this purpose. Therefore LQR period) which implies that a multistage autopilot is needed for this purpose. Therefore LQR
technique was used to satisfy the flying qualit ies, providing control integration with fuzzy logic technique was used to satisfy the flying qualit ies, providing control integration with fuzzy logic
controller that enhance the output performance index. Applying an optimal trajectory during the controller that enhance the output performance index. Applying an optimal trajectory during the
tracking stage had a great effect in minimizing the total mission time. Using fl ight formation tracking stage had a great effect in minimizing the total mission time. Using fl ight formation
principle in last stage (alignment stage) had satisfied the required tanker geometrical constrains principle in last stage (alignment stage) had satisfied the required tanker geometrical constrains
mentioned before. Thus a multistage autopilot could be realized in such described sequence mentioned before. Thus a multistage autopilot could be realized in such described sequence
verifying the safety and security with minimizing the mission time interval that permit several verifying the safety and security with minimizing the mission time interval that permit several
aircrafts to be refueled in such an optimum time period. In this way it is possible to avoid any aircrafts to be refueled in such an optimum time period. In this way it is possible to avoid any
mishaps from the pilots during manual process.mishaps from the pilots during manual process.
Recommended Future WorkRecommended Future Work
It is recommended to apply the final multistage autopilot for a several aircrafts or a complete It is recommended to apply the final multistage autopilot for a several aircrafts or a complete
squadron to optimize the air refueling process time for a number of aircrafts so that decrease squadron to optimize the air refueling process time for a number of aircrafts so that decrease
the time required for the tanker aircraft to stay in the air especially in the operations time. the time required for the tanker aircraft to stay in the air especially in the operations time.
Consequently reducing the time needed for the fighter aircrafts to be refueled thus decreasing Consequently reducing the time needed for the fighter aircrafts to be refueled thus decreasing
the time to be exposed to any aggressors. This will require also different guidance laws the time to be exposed to any aggressors. This will require also different guidance laws
according to the aircraft posit ion with central controller installed in the tanker aircraft.according to the aircraft posit ion with central controller installed in the tanker aircraft.
Thank You