Software for Flight Vehicle System Identification

ESTIMA / FITLAB / FVSysID

at DLR

Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

Software/1

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Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

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Overview of Software Tools (1)

MMLE3: Modified Maximum Likelihood Estimation: A general Fortran
program for Maximum Likelihood Parameter Estimation (1980)
NASA Dryden, Edwards, CA (Richard Maine and Ken Iliff)
pEst:

Parameter Estimation (1987)

interactive parameter estimation for nonlinear dynamic systems.
NASA, Ames/Dryden (James Murray and Richard Maine)

ESTIMA: Integrated Software tool for parameter estimation (1983 / 1998)

and simulation of dynamic systems.
DLR Institute of Flight Systems, Braunschweig, Germany
(Ravindra Jategaonkar)
IDEAS:

Integrated Data Evaluation and Analysis System (1998)

Science Applications International Corporation, California, MD
(Dennis Linse)

Software packages used at Aerospace industries are not included:

Boeing, Airbus, Embraer, ..
Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

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Overview of Software Tools (2)

MATLAB based software packages:
SIDPAC: System Identification Programs for AirCraft (2002)
NASA, Langley, VA (Gene Morelli)
FITLAB

Tools box for Linear and Nonlinear parameter estimation (2001)

DLR Institute of Flight Systems, Braunschweig, Germany (Susanne Weiss)

FVSysID Flight Vehicle System IDentification: A Time Domain Methodology.

(Author: Ravindra Jategaonkar) 2006, AIAA Book

Frequency Domain
CIFER:

Comprehensive Identification from FrEquency Responses

Identification of transfer-function models, Spectral signal analysis,HQ analysis.
Mark Tischler, NASA Ames

DIVA

MIMO Analysis and Transfer function approximations

DLR Institute of Flight Systems, Braunschweig, Germany

FITLAB

Matlab Tools box for parameter estimation in frequency domain Linear systems
DLR Institute of Flight Systems, Braunschweig, Germany (Susanne Weiss)

Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

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FVSysID: Matlab based software (1)

Part of AIAA Book: Flight Vehicle System Identification:
A Time Domain Methodology

Specially tailored software for system identification in time domain

- Developed using basic Matlab (No special Toolbox required)
- Provides source codes (m-files of all the methods / functions)
- Provides sample flight data
- Chapter wise sorted

- Applicable to any general linear / Nonlinear dynamic system

- Multiple run evaluation

- Off-line algorithms:
- Output Error Method (Linear / Nonlinear systems)
- Filter Error Method (Linear / Nonlinear systems)

- Recursive algorithms:
- Recursive least squares (RLS)
- Fourier transform regression (FTR)
- Extended / Unscented Kalman filters (EKF / UKF)
Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

Software/5

FVSysID: Matlab based software (2)

AIAA Book: Flight Vehicle System Identification: A Time Domain Methodology

- Unstable aircraft:
- LS, TLS, FEM, EKF, UKF
- Stabilized OEM
- Eigenvalue transformation
- Equation Decoupling

- Utility programs
- Integration method (Runge-Kutta 2nd, 3rd, 4th order)
- Differentiation of measured variables (multiple run)
- Smoothing / Filtering of measured data (multiple runs)

USER Interface
- mDefCasexx.m Definition of model, flight data, initial values etc.
- state_eq function to code rhs of state equations x& (t ) = f [ x(t ), u (t ), x ]
- obser_eq function to code observation equations y (t ) = g[ x(t ), u (t ), x , y ]
Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

Software/6

FVSysID: Matlab based software (3)

AIAA Book: Flight Vehicle System Identification: A Time Domain Methodology

Example: Estimation of lift, drag, pitching moment Derivatives

State equations
F
qS
C D + g sin( ) + e cos( + T )
V& =
m
m
F
qS
g
C L + q + cos( ) e sin( + T )
& =
V
mV
mV
& = q
q& =

F
q Sc
C m + e ( l tx sin T + l tz cos T )
Iy
Iy

Observation equations

C D = C D 0 + C DV
C L = C L0 + C LV

V
+ C D
V0

V
+ C L
V0

Cm = Cm 0 + CmV

V
qc
+ Cm + Cmq
+ Cme e
2Vo
V0

Vm = V

m =
m =
qm = q
q& m =

F
q Sc
C m + e ( l tx sin T + l tz cos T )
Iy
Iy

F
qS
C X + e cos T
m
m
F
qS
C Z e sin T
=
m
m

a xm =
a zm
Dr. Ravindra Jategaonkar

C X = C L sin C D cos
C Z = C L cos C D sin

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

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FVSysID: Matlab based software (4)

AIAA Book: Flight Vehicle System Identification: A Time Domain Methodology

Example: Estimation of lift, drag, pitching moment Derivatives

The unknown parameter vector
= [C D0 C DV C D C L0 C LV C L C m0 C mV C m C mq C me ]T

V , ,, q

States:

State equation: xdot_TC04_hfb_lon

Observations: V , , , q, q& , a x , a z Obs. Equations: obs_TC04_hfb_lon

e , Fe

Inputs:
test_case = 4;
state_eq

% Integer flag for the test case

= xdot_TC04_hfb_lon; % function for state equations

See m-files

obser_eq = obs_TC04_hfb_lon; % function for observation equations

Nx

= 4;

% Number of states

Ny

= 7;

% Number of observation variables

Nu

= 2;

% Number of input (control) variables

NparSys

= 11;

% Number of system parameters

Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

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FVSysID: Matlab based software (5)

AIAA Book: Flight Vehicle System Identification: A Time Domain Methodology

Example: Estimation of lift, drag, pitching moment Derivatives

Run the test case:
Output Error method:
/FVSysID/chapter04/
ml_oem: test_case = 4
Filter Error method
/FVSysID/chapter05/
ml_fem: test_case = 4
Recursive estimation methods (EKF, UKF, UKFaug)
/FVSysID/chapter07/
mainRPE: test_case = 4
Several test cases and sample flight data provided
Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

Software/9

ESTIMA (1)
Integrated Software Tool for
System Identification and Simulation of Dynamic Systems
Modeling, estimation and simulation
Modeling
Standardmodels
Usermodels
(FPR,Lon,Lat,6DOF,2nd)
(completely flexible)

Flight Data
CDF
or
ASCII

Online
interactive
mode with
graphical
display

Results
Nucleus
Sys Id andsimulation
7Optimization methods
6Integrationformulas
Largescale systems
.....

Logfile:
estimates,correlation,
standard deviation,...

THPLOT:Timehistory plots

CRSPLOT:Crossplots

Timehistories:cdf,Ascii
Convergence
Linearized system

Commonenvironment

Front end and command procedures

Scripts:
Utility,SysID,Plotprograms
(Commontoallplatforms)

Post processing
(time and frequency domain)

Eigenvalues/vectors

Commercial aspects
Availability:
Fourplatforms-IBM-AIX,
SG-IRIX,SunOS-Solaris,Linux

CONPLOT:Convergence plots PSDPLOT:Powerspectral density

Graphic:Gnuplot/GVorGINO
Licensed software:
-No.ofconcurrentuser
-Industry,Researchorg./Univs.

Completelyconfigurable
Unix/X-windowsbased
"xfiles"
Dr. Ravindra Jategaonkar

Support:
Demoprograms,Initial
familiarization,shortcourses

EIGPLOT:Eigenvalues/vectors BODEPLOT:Frequency response

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

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ESTIMA (2)
Front End

Command procedures
Scripts:
Utility,SysID,Plotprograms
(Commontoallplatforms)

Completelyconfigurable
Unix/X-windowsbased
"xfiles"
Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

Software/11

ESTIMA (3)
Core

Modeling, estimation and simulation

Modeling
Standardmodels
Usermodels
(FPR,Lon,Lat,6DOF,2nd)
(completely flexible)

Flight Data
CDF
or
ASCII

Online
interactive
mode with
graphical
display

Dr. Ravindra Jategaonkar

Results
Nucleus
Sys Id andsimulation
7Optimization methods
6Integrationformulas
Largescale systems
.....

Logfile:
estimates,correlation,
standard deviation,...
Timehistories:cdf,Ascii
Convergence
Linearized system

Commonenvironment

Eigenvalues/vectors

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

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ESTIMA (4)
User Interface

Models
Modeling
Standard models
User models
(FPR,Lon,Lat,6DOF,2nd)
(completelyflexible)

Program control file

ChannelNos.for
inputandoutputvariables
A/cmasscharacteristics
Aerodynamicparameters

Keyword: mod_sub = lat

Statevariables:p, r,, , v
Controlinputs:a, r, 3, 4, f, ....
Observations: ay,,p,r,, , ayc
CY = CY 0 + CY + CYp p + CYr r + CY a a + CY r r + CY 3 3 + CY 4
4

C =C +C +C p +C r +C

+C

+C

+C

l l0 l
lp
lr
l a a l r r l 3 3 l 4 4
Fixed structure
Control via Input file C =C + C + C p +C r + C & + C + C + C + C
n n0 n
np
nr
n a a n r r n3 3 n 4 4
n&
Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

Software/13

ESTIMA (5)
Algorithmic Features
Nucleus
SysIdandsimulation
7Optimizationmethods
6Integrationformulas
Largescalesystems
.....

Output error method

Optimization Methods
UnconstrainedGauss-Newton
Bounded-VariableGauss-Newton
Levenberg-Marquardt
Jacob'sHeuristicsearchEXTREM
ConjugatedirectionsPOWELL
SIMPLEX(Nelder andMead)
SUBPLEX(ROWAN)

Integration Methods
Hybridization
Euler
Runge-Kutta 2ndorder
ofoptimizationandIntegrationmethods
Runge-Kutta 3rdorder
Runge-Kutta 4thorder
Large scale systems
Runge-Kutta-Fehlberg withstepsizecontrol 30States,60outputs,60inputs,
Backwarddifferentiationformula
80timeslices,80000datapoints

Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

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FITLAB: Toolbox for Sys ID under MATLAB (1)

FITLAB Features & Functionality
Matlab Toolbox
Identification of nonlinear models
m-Files
Simulink-Models
S-Functions
Identification of linear models
time and frequency domain
startup algorithm
Maximum-Likelihood cost function
Optimization using
bounded Gauss-Newton method
subspace-simplex search method
Multiple maneuvers can be evaluated together
Graphical user interface
Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

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FITLAB: Toolbox for Sys ID under MATLAB (2)

FITLAB GUI Graphical User Interface
Menu-driven system identification
Operation via mouse
Standard plots
quicklook plots for
measured data
report plots for results
Restart option
Generation of batch files
for repeating tasks

Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

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References
Jategaonkar, R. V.,
Flight Vehicle System Identification: A Time Domain Methodology,
Volume 216, AIAA Progress in Astronautics and Aeronautics Series
Published by AIAA Reston, VA, Aug. 2006, ISBN: 1-56347-836-6
http://www.aiaa.org/content.cfm?pageid=360&id=1447
Jategaonkar, R. V., ESTIMA: A Modular and Integrated Software Tool for Parameter Estimation and
Simulation of Dynamic Systems - Users Manual, Version 1.0, DLR IB 111-2001/29, July 2001.
Jategaonkar, R. V. and Thielecke, F., ESTIMA - an Integrated Software Tool for Nonlinear Parameter
Estimation, Journal of Aerospace Science and Technology, Vol. 6, Issue 8, Dec. 2002, pp.565-578.
Linse, D. J., Aircraft System Identification Using Integrated Software Tools, RTO-MP-11,
Paper 11, March 1999.
Maine, R. E., and Iliff, K. W., Users Manual for MMLE3, a general FORTRAN Program for
Maximum Likelihood Estimation, NASA TP-1563, Nov. 1980.
Murray, J. E. and Maine, R. E., The pEst Version 2.1 Users Manual, NASA TM-88280, Sept. 1987.
Morelli, E. A., System Identification Programs for AirCraft (SIDPAC), AIAA Paper 2002-4704,
August 2002.
Tischler, M. B., CIFER version 2.2 Comprehensive Identification from Frequency Responses,
NASA CP-3226, Sept. 1994.
Weiss, S.

Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

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Dr. Ravindra Jategaonkar

AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006

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