ME461 FALL 2008

AUTOMATIC CONTROL

JETPACK CONTROL

Team Space Cadets

Ryan Rudy
Sudeep Pillai
Vincent Wei Jie Lam
Wisit Jirattigalachote
Motivation & Control Problem
 Motivation
 Intriguing dynamics of a jetpack being propelled into the air
 Very beneficial in firefighting and rescuing in tall buildings

 Control Problem
 Control the height of a person propelled by a jetpack in one
dimension (upwards)
 Input would be the different thrust nozzle areas
Control Goals
 Overall
 Jetpack speed and acceleration less than 40m/s and 2g
respectively
 Attain vertical height of 300m within 30s
 Fast response for smaller changes in height
 Account for disturbances

 Closed Loop Control

 Overshoot
 Less than 10% while ascending
 Less than 1m while descending
 Sufficiently small steady-state error (within 1%)
System Model
 Free Body Analysis
 Assumptions Fdrag
 Constant mass flow rate
 Simplified fluid dynamics
𝐹𝑡ℎ𝑟𝑢𝑠𝑡 = (𝑚𝑉)𝑒 − (𝑚𝑉)𝑜 + (𝑃𝑒 − 101325 + 9.1𝑥) ∙ 𝐴𝑒 +X
1
𝐹𝑑𝑟𝑎𝑔 = 𝜌𝑉 2 𝐴𝐶𝑑
2

 Equation of motion
𝑚𝑥 = (𝑚𝑉)𝑒 − (𝑚𝑉)𝑜 + (𝑃𝑒 − 101325 + 9.1𝑥) ∙ 𝐴𝑒 − 𝐾𝑥 2 − 𝑚𝑔
W = mg Fthrust
 Open Loop: Non-Linear Model
1
200
Mass Reduction
100 const
Divide
Mass
Clock1

.1 g

multiply 9.8
M_dot
(mass loss)

A x_dd 1 x_dot 1 x
0.0058
s s
Area Product 1 Integrator Integrator 1 Scope
Product

2
0.13 u

300 K x^2 Drag Force

MVeng
101325
Patm 384800
Gain 1
Pe
9.1
Thrust Force
Linearization
 Equation of motion linearized using a simplified Taylor
Series expansion
 To simplify the model, the mass in the system will be
assumed constant over time
 The Linearized model at equilibrium is
𝑥 = 300 𝑚
𝑥=𝑥=0
𝛿𝑥 = 0.000264 ∗ 𝛿𝑥 + 13.65 ∗ 𝛿𝐴 ≈ 13.65 ∗ 𝛿𝐴
 The linearized transfer function is approximately:
𝛿𝑋 13.65
=
𝛿𝐴 𝑠2
 Controller Derivation
 To achieve the control goals of overshoot <10% we
needed a ζ > 0.6 and γ > 60°.
Frequency Response of Frequency Response of
G(jω)/α [Green] and C(jω) [Blue] G(jω)*C(jω)
Bode Diagram Bode Diagram
Gm = -106 dB (at 0 rad/sec) , Pm = 0 deg (at 7.14 rad/sec) Gm = -94.3 dB (at 0 rad/sec) , Pm = 60 deg (at 7.14 rad/sec)
150 100

100 50
Magnitude (dB)

Magnitude (dB)
50 0

0 -50

-50 -100
90 -120
Phase (deg)

Phase (deg)

-150

-90

-180 -180
-3 -2 -1 0 1 2 3 -3 -2 -1 0 1 2 3
10 10 10 10 10 10 10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)
Controller Derivation
 Closed Loop step response for varying gains
Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.1
0.2 1
10
100
0
0 5 10 15 20 25 30 35 40 45
Time (sec)
 Closed Loop: Non-Linear Model

1
0 200
const
Divide
Mass
Clock1

.1 g

multiply 9.8
M_dot
(mass loss)

A x_dd 1 x_dot 1 x
0.0058
s s
Area Saturation Product 1
Product Integrator Integrator 1

13 .93 s+8.423
.1 0.13 2
s+8.423 u
Reference
K1 300 K x^2
Controller
MVeng
101325
Uniform Random Patm 384800
Gain 1
Number
Pe
9.1
Close Loop Response Curves – Non-Linear

Jetpack response while attaining a height of 300m x 10

-3 Jetpack nozzle area change vs. time
8
350

7
300
6
250
Current Position (m)

Nozzle Area (m 2)
5

200
4

150 3

100 2

1
50

0
0 10 20 30 40 50 60 70 80 90 100
0
0 20 40 60 80 100 Time (s)
Time (s)
Simulation
Conclusion & Future Work
 Conclusions
 Successfully modeled a reasonably accurate non-linear
and linear systems for the Jetpack
 Achieved all of our control goals

 Future Work
 Model the actuator with a low pass filter
 Consider the effects of additional mass
Questions?