AERO 480 and MECH 6091:

Flight Control Systems

Block Diagrams and Computer Simulation Using

Matlab/Simulink

• What is Block Diagram? • Brief introduction to Matlab/Simulink

• Elements of a Block Diagram • Block diagrams vs. Matlab/Simulink
• Diagrams for input-output equations • Computer simulation using
Matlab/Simulink
• Diagram for state-variable equations
Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems, Youmin Zhang (CU)
 Block Diagrams
What is Block Diagram?
• A Block Diagram is an interconnection of blocks representing basic
mathematical operations in such a way that the overall diagram is
equivalent to the system’s mathematical model.
• In such a diagram, the lines interconnecting the blocks represent the
variables describing the system behaviour.
• The block represent operations or functions that use one or more of
these variables to calculate other variables.
Example: lines blocks
fa ( t ) 1 x x x
∫ dt ∫ dt
+ - M
-
B

K Mx + Bx + Kx = f a ( t )
Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 2
 Block Diagrams (cont’d)
Elements of a Block Diagram
Summer: x1
+
+ y
x2 y = x1 + x 2 − x3
-
x3
Gain: x y
K y = Kx

Integrator: x x
∫ dt y( t ) = y( 0 ) + ∫ t0 u( λ )dλ
(u ) ( y)

Constant: y
C

Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 3
 Block Diagrams (cont’d)
Diagrams for Input-Output Equations
Illustrate with the Mass-Spring-Damper example given before:
Mx + Bx + Kx = f a ( t )
(1) Identify output variable
x
(2) Solve for highest derivative of output variable
1 B K 1
x = ( − Bx − Kx + f a ( t )) = − x − x+ fa( t )
M M M M
(3) Create a sequence of output variables using integrator blocks

x x x x 1 x 1 x
∫ dt ∫ dt or
s s
Integrator 1 Integrator 2

Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 4
 1 B K 1
x = ( − Bx − Kx + f a ( t )) = − x − x+ fa( t )
M M M M

Block Diagrams (cont’d)

(4) Complete diagram with a summer (using result from previous step)
fa ( t ) 1 x x x
∫ dt ∫ dt
+ - M
-
B

fa ( t ) 1 x x x
or, ∫ dt ∫ dt
M + -
-
B
M
K
M
B K
Note : We can also use - and - for gain blocks, with positive nodes in summer.
M M
Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 5
 Block Diagrams (cont’d)
Example 4.2:
M 1M 2 x( 4 ) + [M 1 K 2 + M 2 ( K1 + K 2 )]x + K1 K 2 x = K 2 f a ( t ),
where x = x1 , B = 0
Solve for highest derivative:
x( 4 ) =
1
{− [M 1K 2 + M 2 ( K1 + K 2 )]x − K1K 2 x + K 2 f a ( t )}
M 1M 2
then we have:

fa ( t ) 1 x ( 4) x x x x
K2 ∫ dt ∫ dt ∫ dt ∫ dt
+ - M 1M 2
-
M 1 K 2 + M 2 ( K1 + K 2 )

K1 K 2

Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 6
 Block Diagrams (cont’d)
x1 B x2
Example 4.3: Representation of Ex. 4.2 K1
M1 M2
fa(t)
K2
M 1v1 = − K1 x1 + B( v2 − v1 ) + K 2 ( x2 − x1 )
M 2 v2 = − K 2 ( x2 − x1 ) − B( v2 − v1 ) + f a ( t )
Rewrite/rearrange the equations from
pp. 3-12, we have:
M 1x1 = − Bx1 − ( K1 + K 2 )x1 + Bx2 + K 2 x2
x1 =
1
[− Bx1 − ( K1 + K 2 )x1 + Bx2 + K 2 x2 ] M 2 x2 = − Bx2 + Bx1 − K 2 x2 + K 2 x1 + f a ( t )
M1

x2 =
1
[ f a ( t ) − Bx2 + Bx1 − K 2 x2 + K 2 x1 ]
M2

Then we have following block diagram:

(Refer to next page.)

Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 7
 Block Diagrams (cont’d)
+
+ -
1
M1
x1
∫ dt .
x1
∫ dt . x1

-
. B
K1 + K 2 .
K2

fa ( t )
+
+ +
-
1
M2
x2
∫ dt .
x2
∫ dt .x2

-
. B
. K2 x1 =
1
M1
[− Bx1 − ( K1 + K 2 )x1 + Bx2 + K 2 x2 ]

x2 =
1
[ f a ( t ) − Bx2 + Bx1 − K 2 x2 + K 2 x1 ]
M2 8
Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems
 Block Diagrams (cont’d)
Diagrams for state-variable equations
Standard format for state-variable equations:
q = Aq + Bu
(*) ⇐ All variables could be matrices/vectors.
y = Cq + Du
Procedure:
1. Draw an integrator for each state variable
2. Assemble terms needed to create each state variable derivative
3. Assemble terms for output variables
The following diagram is a state-variable diagram for (*) assuming all
variables are scalars: q q
B ∫ dt
+
u +
A
y
q = Aq + Bu .
D y = Cq + Du
+
Question: Can you draw the block diagram +
for Ex. 4.3 in state-variable format? C
Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 9
 Block Diagrams (cont’d)
Example: Redraw the block x1 B x2
K1
diagram for Ex. 4.3 in state-variable
M1 M2
equation format. fa(t)
K2
The state-variable equations becomes: M 1v1 = − K1 x1 + B( v2 − v1 ) + K 2 ( x2 − x1 )
M 2 v2 = − K 2 ( x2 − x1 ) − B( v2 − v1 ) + f a ( t )
x1 = v1
M 1x1 = − Bx1 − ( K1 + K 2 )x1 + Bx 2 + K 2 x2
v1 =
1
[− ( K1 + K 2 )x1 − Bv1 + K 2 x2 + Bv2 ] M 2 x2 = − Bx2 + Bx1 − K 2 x2 + K 2 x1 + f a ( t )
M1
x2 = v2
x1 =
1
[− Bx1 − ( K1 + K 2 )x1 + Bx2 + K 2 x2 ]
v2 =
1
[ f a ( t ) + K 2 x1 + Bv1 − K 2 x2 − Bv2 ] M1
M2 x2 =
1
[ f a ( t ) − Bx2 + Bx1 − K 2 x2 + K 2 x1 ]
M2

Then we have following block diagram:

(Refer to next page.)

Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 10
 Block Diagrams (cont’d)
+
+ -
1 v1 = x1
M1
∫ dt
v1 = x1
∫ dt . x1 . x1 = v1
-
. B
v1 =
1
M1
[− ( K1 + K 2 )x1 − Bv1 + K 2 x2 + Bv2 ]

K1 + K 2 . x2 = v2

v2 =
1
M2
[ f a ( t ) + K 2 x1 + Bv1 − K 2 x2 − Bv2 ]

K2

fa ( t )
+
+ +
-
1 v2 = x2
M2
∫ dt
v2 = x2
∫ dt. .x2

-
. B
. K2

Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 11
 Block Diagrams (cont’d)
Example 4.4: (see Problem 2.4 and practice this example yourself )
x1 B3 x2
K1
M1 fa(t) M2
B1 K3 B2 K2

FBD:

The state-variable equations: M 1 x1 + ( B1 + B3 )x1 + ( K1 + K 3 )x1 − B3 x2 − K 3 x2 = f a ( t )

x1 = v1 − B3 x1 − K 3 x1 + M 2 x2 + ( B2 + B3 )x2 + ( K 2 + K 3 )x2 = 0

v1 =
1
[ f a ( t ) − K1 x1 − B1v1 − B3 ( v1 − v 2 ) − K 3 ( x1 − x 2 )]
M1
x 2 = v 2

v 2 =
1
[− K 2 x 2 − B2 v 2 + B3 ( v1 − v 2 ) + K 3 ( x1 − x 2 )]
M2
Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 12
 Block Diagrams (cont’d)
Example 4.4: f a (t ) + 1 v1 v1 = x1 x1
x1 = v1 ∫ dt ∫ dt
- - M1
v1 =
1
[ f a ( t ) − K1 x1 − B1v1 − B3 ( v1 − v2 ) − K 3 ( x1 − x2 )] - -
M1
x 2 = v2 B1
v2 =
1
[− K 2 x2 − B2v2 + B3 ( v1 − v2 ) + K 3 ( x1 − x2 )]
M2
K1
+
B3
- +
K3
-
+
1 v2 v2 = x2 x2
∫ dt ∫ dt
+ - M2
-

B2

K2
Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 13
 Block Diagrams (cont’d)

Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 14
 Block Diagrams (cont’d)
Elements of a Block Diagram Blocks in Simulink

Summer: x1
+ x1 + x1 +
+ y + y y
x2 y = x1 + x 2 − x3 x2 x2 +
-
x3 - x3 -
x3
Gain: x y
K y = Kx K
Gain
Input 1 Output
Integrator: x x
∫ dt y( t ) = y( 0 ) + ∫ t0 u( λ )dλ
s
Input Integrator
Constant: y 1 Output
C
IC s
Integrator
Initial
Condition 15
Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems
 F16 AIRCRAFT: System Description

Right elevator

Left elevator

Right Aileron

Left Aileron
STATES AND INPUT CONTROLS
ϕ
Canards

Rudder

Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 16
 F16 AIRCRAFT: System Modelization
Linearization
Parameter Flight Conditions 2 Flight Condition3

Mach number 0.6 0.9

Altitude 30 000 (ft.) 20 000 (ft.)
Dynamic Pressure 158.81 lb./ft2 552.113 lb./ft2
Trim Velocity 596.91 ft./s 933.23 ft./s
Trim angle of attack 4.705 deg 1.86 deg

Equation s of State space Autopilot

Linearization
Motion Model Controller

Lecture 7 ENGR691X
Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 17
 F16 AIRCRAFT: Simulation

y
Estimated def lections
Estimated states
probability
ref
u

Scopes
Pilote Commande Desired Output

y x' = Ax+Bu
u u u_pf y noised y
Estimated def lection Vector y = Cx+Du

Actuator f ault Probability Actuator faults AFTI-F16 Aircraft Low-cost

modelisation sensors
Sliding Mode Control

diag_Fc
u
probability

estimated state Vector

y
estimated def lection Vector

EMMAE_FDI

F16 MATLAB/Simulink Block Diagram

Lecture 7 Lecture Notes on AERO 480 and MECH 6091: Flight Control Systems 18