Simulink Control Design™ - MathWorks

The performance is satisfactory but the linear responses showed a significant amount of cross-coupling between axes and we could ...

Attitude Control in the HL-20 Autopilot - MIMO Design This is Part 4 of the example series on design and tuning of the flight co ...

In this architecture, the three PI loops for pitch, alpha, beta are replaced by a 3-input, 3- output PI controller that blends t ...

To get started, load the model, set CTYPE to 3 to select the MIMO variant of the Controller block, and reapply the steps of Part ...

Blk = 'csthl20_control/Flight Control System/Controller/MIMO/Product'; Subs = [zeros(3) append(ss(Kp),ss(Kq),ss(Kr))]; BlockSub4 ...

Tuning Goals To tune the MIMO gain schedules we use the following three tuning goals: A "Sensitivity" goal to specify the desir ...

A "Gain" constraint on the closed-loop transfer from angular demands to angular responses. The gain profile is chosen to enforc ...

A "Margins" goal to require gain margins of at least 7 dB and phase margins of at least 45 degrees (in the disk margin sense). ...

For illustration sake, we use a MATLAB Function block to implement the proportional gain schedule, and a Matrix Interpolation bl ...

The final value of the objective function indicates that the tuning goals are nearly met (a tuning goal is satisfied when its "v ...

writeBlockValue(ST) For the Matrix Interpolation block "I", this samples the gain surface at the table breakpoints and updates t ...

These responses are not very different from the SISO design (“Attitude Control in the HL-20 Autopilot - SISO Design” (Control Sy ...

MATLAB Workflow for Tuning the HL-20 Autopilot This is Part 5 of the example series on design and tuning of the flight control s ...

In Part 2 (“Angular Rate Control in the HL-20 Autopilot” (Control System Toolbox)) and Part 3 (“Attitude Control in the HL-20 Au ...

obtain linearized models and control system responses, and push tuned values back to Simulink. For simple architectures and rapi ...

Kp = 1./abs(evalfr(Gpqr(1,1),30i)); Kq = -1./abs(evalfr(Gpqr(2,2),22.5i)); Kr = -1./abs(evalfr(Gpqr(3,3),37.5i)); bode(Gpqr(1,1) ...

Gpos.InputName = {'p_demand','q_demand','r_demand'}; size(Gpos) 8x5 array of generalized state-space models. Each model has 6 ou ...

Finally, use feedback to obtain a tunable closed-loop model of the outer loops. To enable tuning and closed-loop analysis, inser ...

Tuning Goals Use the same tuning goals as in Part 3 (“Attitude Control in the HL-20 Autopilot - SISO Design” (Control System Too ...

T = systune(T0,[R1 R2 R3]); Final: Soft = 1.03, Hard = -Inf, Iterations = 42 The final objective value is close to 1 so the tuni ...