Design Pitch Hold Autopilot for F104 Star Fighter
August 26, 2016
Institute of Space Technology, Islamabad.
Flight Dynamics & Controls Center
Department of Aeronautics & Astronautics
Institute of Space Technology, Islamabad
1. Define Transfer Functions:
𝑞(𝑠) −4.66𝑠(𝑠 + 0.133)(𝑠 + 0.269)
= 2 𝑟𝑎𝑑. 𝑠 −1 /𝑟𝑎𝑑
𝛿𝐸 (𝑠) (𝑠 + 0.015𝑠 + 0.021)(𝑠 2 + 0.911𝑠 + 4.884)
𝜃(𝑠) −4.66(𝑠 + 0.133)(𝑠 + 0.269)
= 2 𝑟𝑎𝑑/𝑟𝑎𝑑
𝛿𝐸 (𝑠) (𝑠 + 0.015𝑠 + 0.021)(𝑠 2 + 0.911𝑠 + 4.884)
>> tf_q = tf(-4.66*conv([1 0.133 0],[1 0.269]),conv([1 0.015 0.021],[1 0.911 4.884]))
>> tf_th = tf(-4.66*conv([1 0.133],[1 0.269]),conv([1 0.015 0.021],[1 0.911 4.884]))
>> sys = [tf_th;tf_q]
2. Check Aircraft Characteristics:
Mode Actual Aircraft Requirements1
Damping 0.0518 𝜁𝑝ℎ ≥ 0.04
Phugoid
Natural Frequency 0.145 rad/s
Damping 0.206 𝜁𝑠𝑝 ≥ 0.5
Short Period
Natural Frequency 2.21 rad/s 0.8 rad/s ≤ 𝜔𝑠 ≤ 3.0 rad/s
Control Structure:
1
For an aircraft of class IV, operating in flight phase category C, assuming Level 1 flying qualities
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Flight Dynamics & Controls Center
Department of Aeronautics & Astronautics
Institute of Space Technology, Islamabad
3. Make Simulink Model
4. Define Inputs and Outputs
i. Select Output signal (theta), Right Click: Linear Analysis Points >
Output Measurement
ii. Similarly select Input signal (step), Right Click: Linear Analysis Points >
Open-loop Input
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Flight Dynamics & Controls Center
Department of Aeronautics & Astronautics
Institute of Space Technology, Islamabad
5. Open ‘Control and Estimation Tools Manager’ by:
Analysis > Control Design > Control System Designer…
6. Following window will open: Click “Select Blocks…”
7. Check Both Controller Gains and press “OK”
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Flight Dynamics & Controls Center
Department of Aeronautics & Astronautics
Institute of Space Technology, Islamabad
8. Press “Tune Blocks”
9. Click “Next”
10. Select Design Views and Click “Next”
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Flight Dynamics & Controls Center
Department of Aeronautics & Astronautics
Institute of Space Technology, Islamabad
11. Select Responses and Click “Finish”
12. Close Information Dialog Box, and Re-arrange following three windows, as shown
below. Move sliders to tune/vary controller gains.
13. Design requirements can be displayed on Root locus: e.g. Short period requirements. But
it’s better to impose one mode’s requirement at one time, than all at a same time. Right
Click on plot: Design Requirements > New
𝜻𝒔𝒑 ≥ 0.5
Short Period
0.8 rad/s ≤ 𝜔𝑠 ≤ 3.0 rad/s
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Flight Dynamics & Controls Center
Department of Aeronautics & Astronautics
Institute of Space Technology, Islamabad
14. Select type of requirement and enter values, as shown below. Similarly add other
requirements.
15. Now adjust controller gains to meet desired requirements. Once designed, press “Update
Simulink Block Parameters”
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Flight Dynamics & Controls Center
Department of Aeronautics & Astronautics
Institute of Space Technology, Islamabad
16. Now simulate the model, in Simulink, and check response.
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