Methodology for Distributed Electric Propulsion Aircraft Control Development with Simulation and Flight Demonstration

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1 1 Methodology for Distributed Electric Propulsion Aircraft Control Development with Simulation and Flight Demonstration Presented by: Jeff Freeman Empirical Systems Aerospace, Inc. For: OpenVSP Workshop 2017 Work Funded by: NASA Phase I STTR, NNX17CD10P COR: Bruce Cogan, AFRC

2 2 Program Overview Big Picture: Current STTR:

3 3 Goals of STTR Baseline SR22T UAV 1. Demonstrate utility of OpenVSP/VSPAERO for dynamics modeling in support of system identification (SYS ID) and conceptual design. 2. Validate VSPAERO with flight test and provide results to OpenVSP community. DEP-Equipped SR22T UAV 3. Evaluate control authority of a DEP system in flight. 4. Identify cross-coupled and nonlinear flight characteristics caused by propulsion-airframe integration (PAI) effects.

4 4 Dynamically Scaled Cirrus SR22T UAV Owned, Assembled, & Operated by Univ. of Illinois at Urbana-Champagne Why it was chosen? Represents modern airframe design with composite construction Scalable design Licensed RC model available Hangar 9 Cirrus SR-22T Base Kit Fiberglass monocoque fuselage Balsa/plywood rib/spar main wings covered balsa skin with monokote top Balsa covered foam core horizontal stabilizers Key Parameters Scale 21% Length 66 Span 97 Wing Surface Area 786 in 2 Weight (as per kit) 18 lbs

5 5 Phase I Work Plan Planned Schedule June 12, 2017 Today: August 30, 2017 ESAero UIUC Task\Month M1 M2 M3 M4 M5 M6 M7 M8 M9 M10 M11 M12 Task 1: Dynamics Model - Baseline Aircraft Task 2: Research Vehicle Avionics and DAQ Upgrade Task 3: Baseline Vehicle System ID Flight Test Task 4: Wind-Tunnel Characterization of EDF Units Task 5: DEP Vehicle Design Task 6: DEP Vehicle Hardware Integration Task 7: Dynamics Model - Thrust-Line DEP Aircraft Task 8: Flight Test Evaluation of DEP Vehicle Task 9: Model Comparison and Refinement Task 10: Reporting

6 6 Task 1: Dynamics Model of Baseline Vehicle Modeling Workflow with OpenVSP/VSPAERO, MATLAB, & Simulink 1. Create Simulink dynamics model for conventional aircraft 2. Simulate OpenVSP/VSP Aero model 3. Inform first system ID flight test experiment 4. MATLAB & Simulink: Debugging and V&V Model Geometry Mass Properties Open VSP VSPAERO Model Aero Coefficients Calculate ABCD matrices Define control surface inputs MATLAB Simulink u propulsors = 0 Propagate EOM over time

7 7 Task 1: Dynamics Model of Baseline Vehicle OpenVSP / VSPAERO Model Model 21% scaled Cirrus SR22T in OpenVSP VSPAERO Estimate dynamic properties (Vortex Lattice) Aerodynamic Coefficients: Estimated trimmed power condition (u propulsors= 0) and at estimated longitudinal trim (α 0 = 0.34, δ e0 = 5.04 )

8 8 Task 1: Dynamics Model of Baseline Vehicle VSPAERO Model Predictions of Aerodynamic Coefficients Model 21% scaled Cirrus SR22T in OpenVSP VSPAERO: Stability Calculation Preliminary Aerodynamic Coefficients

9 9 Task 1: Dynamics Model of Baseline Vehicle Coordinate Transformation Aerodynamic coefficients: Estimated in OpenVSP coordinate frame Dynamics simulation: Performed in Body axis coordinate frame Equation below gives transformation matrix for converting the aerodynamic coefficients from OpenVSP to body axis frame C Y(180 ) = Body axis coordinate frame Y Z Y X X Z OpenVSP coordinate frame

10 10 Task 1: Dynamics Model of Baseline Vehicle Dynamics Model in MATLAB/Simulink Glue Code MATLAB script does the heavy lifting Import aerodynamic coefficients & mass properties from OpenVSP/VSPAERO 2. Coordinate transformations 3. Compute ABCD matrices for Equations of Motion 4. Prepare initial conditions & control surface inputs for the simulation 5. Run the Simulink model 6. Collect & plot results Baseline UAV Simulink Model

11 11 Task 1: Dynamics Model of Baseline Vehicle Simulated Longitudinal Doublet Response

12 12 Task 1: Dynamics Model of Baseline Vehicle Simulated 2-Axis Lateral Doublet Response

13 13 Things to Come Tasks 2 & 3: Hardware Upgrade and SYS ID Flight Test Serves 2 goals: 1. Validation of OpenVSP / VSPAERO flying qualities prediction capability 2. Provides reference properties for comparison against DEP aircraft Utilizing SIDPAC (NASA Software) to support calculations. Flight testing scheduled for September Task 2 Upgrade avionics hardware Task 1 Task 3 Aerodynamic Properties Mass Properties SR22T UAV Sim. Model Use latest dynamics model Create flight test maneuvers with SIDPAC Initial Guess Design Experiment Iterate Perform test Measure inputs + outputs Analyze results with SIDPAC Flight Test

14 14 Things to Come Task 4: Wind-Tunnel Characterization of EDF Units Goal: Characterize mapping between throttle input and thrust output Wind tunnel testing of a single, uninstalled electrical ducted fan (EDF) E.g. Schubeler DS-30-AXI HDS 69 mm fan units (shown below) Using UIUC s 3-ft x 4-ft subsonic wind tunnel

15 15 Things to Come Tasks 5 & 6: DEP Vehicle Design Design goal: introduce propulsion-based control capability & measurable PAI effects Design DRAFT shown below 6 x 12,000 mah Lumenier 4S LiPo batteries give >10min flight time No tractor propeller. Aerodynamically clean nose cowl. May need air intake for battery cooling. 12 EDF units on upper surface of trailing edge Clustering excites cross-dependency between propulsors Different inboard vs. outboard yaw moment arms

16 16 Things to Come Tasks 7: Dynamics Model of DEP Aircraft with Thrust-Line Propulsion Upgrade Simulink model to support EDFs as control effectors Assume thrust-line propulsion. Neglect aero-propulsive interactions. 1. Lowest fidelity level to represent DEP control 2. Reference point for characterizing PAI effects after flight testing is complete Update airframe characteristics from Baseline Vehicle in OpenVSP model Incorporate EDF throttle response from wind tunnel tests in Task 4

17 17 Things to Come Task 8-9: Flight Test Evaluation of DEP Research Vehicle Goals of DEP Research Vehicle flight test program include: 1. Gain familiarity with flying qualities of DEP aircraft 2. Measure control effectiveness of DEP propulsors 3. Identify PAI effects, e.g.... Thrust-induced pitching or rolling moments Thrust-induced lift increment Cross-dependency of propulsors Scope (budget / schedule) of task is limited. We ll see how far we can get.

18 18 QUESTIONS?

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