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Meeting	ACGS Committee Meeting 106 - La Jolla - October 2010
Agenda Location	4 GENERAL COMMITTEE TECHNICAL SESSION 4.1 Research Institutions, Industry and University Reports 4.1.1 Research Institutions and Companies 4.1.1.4 Robert Heffley Engineering
Title	Robert Heffley Engineering
Presenter	Bob Heffley
Available Downloads*	presentation video
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Abstract	Activity Summary for Robert Heffley Engineering During 2010 RHE has focused on two main work topics: 1. Development of RotorGen2 helicopter math model for a reconfigurable simulator 2. Application of a Task-Pilot-Vehicle (TPV) model to autonomous cargo helicopter flight tasks RotorGen2 Helicopter Modeling RotorGen2 has been used to implement several helicopters in a reconfigurable flight simulator. These helicopter math models include MD500, Bo105, AH-1, UH-1, UH-60, and CH-47. These math models include both the flight dynamics models and the flight control systems, including stability and control augmentation systems. Significant enhancements have been made to the RotorGen2 minimal-complexity helicopter math model, including creating several new helicopter math models for manned simulator use and the addition of a ground-contact function. The RotorGen model was devised more than 20 years ago as an alternative to more complex models typically used for handling qualities research in manned simulators. RotorGen was a simple first-principles model form that could be easily reconfigured to any helicopter, whether single- or tandem-rotor. It used analytic functions rather than large lookup tables. RotorGen2 was developed for use with Matlab and Simulink while retaining the model’s basic simplicity. Recently some users of RotorGen2 have desired enhancements in model fidelity over a broad operating envelope. Thus improvements have been made to permit finer tuning but without loss of the fundamental model simplicity. Running in Simulink, RotorGen2 is now expressed in S-function form with modules that can be shuffled to form any form of helicopter or fixed-wing aircraft. It includes a simple ground-contact model and robust functions for trim and linearization. In addition, RotorGen2 now enjoys implementation within the TPV model framework. This combination has dramatically aided in development of RotorGen2 models for specific helicopters by permitting easy testing of the model using realistic flight tasks or maneuvers. The RotorGen2 development software also permits rapid computation and presentation of trim points, stability derivatives, frequency response, and other characteristics that may be required to compare with available validation data. Task-Pilot-Vehicle Model applied to Autonomous UAV Cargo Helicopter The Task-Pilot-Vehicle (TPV) simulation math model is currently being applied to the design of an autonomous UAV cargo helicopter system. The task and pilot modules are being adapted to perform the desired mission flight tasks autonomously using human pilot models as a guide. The TPV models have been an ongoing development based on earlier projects for the US Army and NAVAIR to produce useful simulation models that combine pilot-vehicle models in a way that permits analysis of useful and realistic flight tasks or maneuvers. Army TPV models were applied to several ADS-33 helicopter demonstration maneuvers in order to provide an analysis tool for manned simulation and in-flight experiments and flight tests. The NAVAIR TPV models were aimed at aids for examining the effects of ship airwake disturbances for several fixed-wing, helicopter, STOVL, and tilt-rotor aircraft situations. As a result of these projects and many prior pilot-in-the-loop modeling studies, a powerful tool now exists for viewing realistic flight task and maneuver scenarios without the direct involvement of human pilots in the simulation. Considerable in-house development has resulted in a suite of analysis tools and improvements in the TPV modeling scheme in order to address a wider range of applications. The TPV model architecture is highly modular with respect to its three parts. Tasks can be expressed as a set of serial segments based on actual operational descriptions such as flight manuals, training scenarios, pilot commentary, or well-defined maneuvers (ADS-33 demos, etc.). Pilot behavior is expressed in terms of the decisions made for transitioning to each segment and the control strategy and technique needed to define pilot controller model. The pilot parameters tend to be fairly consistent regardless of tasks or maneuvers. The vehicle model can be nearly any form, and several have been used, including NAVAIR CASTLE models, ART FlightLab models, RotorGen2 (all three nonlinear), and simple linear models. Depending upon the complexity of the vehicle model, the TPV model can be run much faster than real time. The current TPV model environment uses Matlab and Simulink. FlightGear software provides a realistic 3D virtual reality presentation. The TPV model scheme offers potential for many manned simulator applications such as exploring test matrix planning and analysis of manned simulator data. Actual human pilot behavior can be used to generate pilot model matches and thereby express differences among pilots.