A Continuous Multivariable Finite-Time Super-Twisting Attitude and Rate Controller for Improved Rotorcraft Handling

This paper synthesizes a continuous, multivariable, finite-time-convergent, super-twisting attitude and rate controller for rotorcraft with the objective of providing desired handling qualities and robustness characteristics. A sliding manifold is defined in the system state space to represent ideal attitude and rate command response dynamics of relative degree one with respect to the command input. Subsequently, robust command tracking is achieved via the synthesis of a multivariable super-twisting flight controller, which renders the plant states convergent on to the defined sliding manifold in finite-time and in the presence of matched external disturbance input. To validate the efficacy of the controller, simulation results are presented based on a nonlinear, higher-order rotorcraft model operating in turbulence. True system convergence to the sliding manifold from an untrimmed state is shown to lie within the theoretically predicted finite-time convergence bound. Furthermore, simulations with a linear quadratic flight controller are also presented for performance comparison with the proposed super-twisting flight controller.

Handling qualities of fixed-pitch, variable-speed multicopters for urban air mobility

Optimisation-based control design techniques are applied to multicopters with variable-RPM rotors. The handling qualities and motor current requirements of a quadcopter, hexacopter and octocopter with equal gross weights (5,360N) and total disk areas (producing a 287N/m $^2$ disk loading) are compared in hover. For axes that rely on the rotor thrust (all except yaw), the increased inertia of the larger rotors on the quadcopter increase the current requirement, relative to vehicles with fewer, smaller rotors. Both the quadcopter and hexacopter have maximum current margin requirements (relative to hover) during a step command in longitudinal velocity. In yaw, rotor inertia is irrelevant, as the reaction torque of the motor is the same whether the rotor is accelerating or overcoming drag. This, combined with the octocopter’s greater inertia as well as the fact that it requires 30% less current to drive its motors in hover, results in the octocopter requiring the greatest current margin, relative to hover conditions. To meet handling qualities requirements, the total weight of the motors of the octocopter and hexacopter is comparable at 13.5% weight fraction, but the quadcopter’s motors are heavier, requiring 16% weight fraction. If the longitudinal and lateral axes were flown in ACAH mode, rather than TRC mode, the total motor weight of all configurations would be nearly identical, requiring about 13.5% weight fraction for motors (compared to 7–9% weight fraction from hover torque requirements).

Helicopter handling qualities: A study in pilot control compensation

The research reported in this paper is aimed at the development of a metric to quantify and predict the extent of pilot control compensation required to fly a wide range of mission task elements. To do this, the utility of a range of time- and frequency-domain measures to examine pilot control activity whilst flying hover/low-speed and forward flight tasks are explored. The tasks were performed by two test pilots using both the National Research Council (Canada)’s Bell 412 Advanced Systems Research Aircraft and the University of Liverpool’s HELIFLIGHT-R simulator. Handling qualities ratings were awarded for each of the tasks and compared with a newly developed weighted adaptive control compensation metric based on discrete pilot inputs, showing good correlation. Moreover, in combination with a time-varying frequency-domain exposure, the proposed metric is shown to be useful for understanding the relationship between the pilot’s subjective assessment, measured control activity and task performance. By collating the results from the subjective and objective metrics for a range of different mission task elements, compensation boundaries are proposed to predict and verify the subjective assessments from the Cooper-Harper Handling Qualities Rating scale.

Insight into the factors affecting the safety of take-off and landing of the ship-borne helicopter

Despite the important role and highly frequent appearance of the helicopter in modern ship operations, the flight mission with take-off and landing of helicopters to ships, especially ships with small-sized decks, could be very challenging and potentially hazardous. Many researches on ship-helicopter dynamic interface (DI) have been conducted, and significant progress has been made. In this paper, a comprehensive and systematical review of the factors affecting the flying qualities of ship-borne helicopter and pilot workload during taking off and landing is derived from these efforts to date. The factors from two aspects, including the ship environment and the pilot-helicopter interface, are covered to address how these factors affect the helicopter handling qualities and pilot workload, primarily focusing on aerodynamic issues. The insight into these factors is not only of great significance for conducting take-off and landing tasks safely but also helpful to establish suitable fidelity criteria and guidelines for the modelling and simulation of the ship-helicopter DI environment.

NASA concept vehicles and the engineering of advanced air mobility aircraft

NASA is conducting investigations in Advanced Air Mobility (AAM) aircraft and operations. AAM missions are characterised by ranges below 300 nm, including rural and urban operations, passenger carrying as well as cargo delivery. Urban Air Mobility (UAM) is a subset of AAM and is the segment that is projected to have the most economic benefit and be the most difficult to develop. The NASA Revolutionary Vertical Lift Technology project is developing UAM VTOL aircraft designs that can be used to focus and guide research activities in support of aircraft development for emerging aviation markets. These NASA concept vehicles encompass relevant UAM features and technologies, including propulsion architectures, highly efficient yet quiet rotors, and aircraft aerodynamic performance and interactions. The configurations adopted are generic, intentionally different in appearance and design detail from prominent industry arrangements. Already these UAM concept aircraft have been used in numerous engineering investigations, including work on meeting safety requirements, achieving good handling qualities, and reducing noise below helicopter certification levels. Focusing on the concept vehicles, observations are made regarding the engineering of Advanced Air Mobility aircraft.

Quantitative assessment of pilot-endured workloads during helicopter flying emergencies: an analysis of physiological parameters during an autorotation

The procedures to be performed after sudden engine failure of a single-engine helicopter impose high workload on pilots. The maneuver to regain aircraft control and safe landing is called autorotation. The safety limits to conduct this maneuver are based on the aircraft height versus speed diagram, which is also known as "Dead Man’s Curve”. Flight-test pilots often use subjective methods to assess the difficulty to conduct maneuvers in the vicinity of this curve. We carried out an extensive flight test campaign to verify the feasibility of establishing quantitative physiological parameters to better assess the workload endured by pilots undergoing those piloting conditions. Eleven pilots were fully instrumented with sensors and had their physiological reactions collected during autorotation maneuvers. Our analyses suggested that physiological measurements (heart rate and electrodermal activity) can be successfully recorded and useful to capture the most effort-demanding effects during the maneuvers. Additionally, the helicopter’s flight controls displacements were also recorded, as well as the pilots’ subjective responses evaluated by the Handling Qualities Rate scale. Our results revealed that the degree of cognitive workload was associated with the helicopter’s flight profile concerning the Height-Speed diagram and that the strain intensity showed a correlation with measurable physiological responses. Recording flight controls displacement and quantifying the pilot's subjective responses show themselves as natural effective candidates to evaluate the intensity of cognitive workload in such maneuvers.

Vertical tail sizing of propeller-driven aircraft considering the asymmetric blade effect

An engineering approach is presented to analyse the asymmetric blade thrust effect with the help of analytical and semi-empirical methods. It is shown that the contribution of the asymmetric blade thrust effect in the lateral-directional stability of multi-engine propeller-driven aircraft is significant particularly in critical flight conditions with one engine out of service. Also, in some cases where the engines are rotating in one direction, the asymmetric blade effect has substantial effects on the handling qualities of the aircraft even in normal flight conditions. Overall, due to the significant contribution of this phenomenon in the lateral-directional stability of propeller-driven airplanes, it is important to consider it in the design of the vertical stabilizer and rudder. The resulting analytical method has been used to determine the vertical tail incident angle and desired rudder deflection in accordance with the most critical flight condition for two different cases and validated to ensure the accuracy of the result. In this work, the aerodynamic coefficients as well as the stability and control derivatives have been predicted using analytical and semi-empirical methods validated for light aircraft.