Tham khảo tài liệu 'advances in flight control systems part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Hybrid Adaptive Flight Control with Model Inversion Adaptation 67 30 20 10 0 Direct J 0 10 20 30 40 30 20 -ẫ 10 0 ị Hybrid Indirect 0 10 20 30 40 t sec t sec 30 20 10 0 Hybri RLS 0 10 20 30 40 t sec Fig. 6. Tracking Error Norm the direct adaptive control and the hybrid Lyapunov-based indirect adaptive control improve the roll and yaw rate responses but the response amplitudes are still significant and therefore can be objectionable particularly in the roll rate. Figure 6 is the plot of the tracking error norm for all the three angular rates to demonstrate the effectiveness of the hybrid adaptive control method. The hybrid Lyapunov-based indirect adaptive control reduces the tracking error by roughly half of that with the direct adaptive control alone and by a factor of three when there is no adaptation. Moreover the hybrid RLS indirect adaptive control drastically reduces the tracking error by more than an order of magnitude over those with the direct adaptive control and with the baseline flight control. 20 0 0 -40 -20 10 20 t sec Direct 30 40 -------Hybrid Indirect -40 0 10 20 30 40 t sec 20 r 0 . -20 -40 - 0 ------- Hybrid RLS 10 20 30 40 t sec Fig. 7. Bank Angle The attitude responses of the damaged aircraft are shown in Fig. 7 to 9. When there is no adaptation the damaged aircraft exhibits a rather severe roll behavior with the bank angle ranging from almost 40o to 20o. The direct adaptive control improves the situation 68 Advances in Flight Control Systems t sec t sec Fig. 8. Angle of Attack significantly and cuts down the bank angle to a range between about 30o and 10o. With the hybrid RLS indirect adaptive control the bank angle is essentially maintained at its trim value. The angle of attack as shown in Fig. 8 is in a reasonable range. The angle of attack when there is no adaptation goes through a large swing from 1o to 9o but the hybrid RLS indirect adaptive control reduces the angle of attack to a range between 3o and 8o. Figure 9 shows the plot of the .
