Engineering topics

Grauer, Jared A.

Publications and source records attributed to Grauer, Jared A..

At least 19 records

NASA NTRS2020

Aircraft System Identification from Multisine Inputs and Frequency Responses

A frequency-domain approach is described for estimating parameters, such as stability and control derivatives, in aircraft flight dynamic models from measured input and output data. The approach uses orthogonal phase-optimized multisines for moving the aircraft control effectors, Fourier analysis for computing multiple-input multiple-output frequency responses, and a maximum likelihood estimator called frequency response error (FRE) for determining values and uncertainties for the model parameters. The approach is demonstrated using flight test data for two subscale airplanes: the T-2 generic transport model and the X-56A aeroelastic demonstrator. Results and comparisons with the output-error method indicated that the approach produced accurate estimates of stability and control derivatives and their uncertainties from flight test data.

Grauer, Jared A.↗

NASA NTRS2019

Identification of Bare-Airframe Dynamics from Closed-Loop Data Using Multisine Inputs and Frequency Responses

Amethod is presented for computing multiple-input multiple-output frequency responses of bare-airframe dynamics for systems excited using orthogonal phase-optimized multisines and including correlated data arising from control mixing or feedback control. The estimation was posed as the solution to an underdetermined system of linear equations, for which additional information was supplied using interpolation of the frequency responses. A simulation model of the NASA T-2 aircraft having two inputs and two outputs was used to investigate the method in the open-loop configuration and under closed-loop control. The method was also applied to flight test data from the X-56A aeroelastic demonstrator having five inputs and ten outputs and flying under closed-loop control with additional control allocation mixing. Results demonstrated that the proposed method accurately estimates the bare airframe frequency responses in the presence of correlated data from control mixing and feedback control. Results also agreed with estimates obtained using different methods that are less sensitive to correlated inputs.

Grauer, Jared A.↗

NASA NTRS2018

Dynamic Modeling using Output-Error Parameter Estimation based on Frequency Responses Estimated with Multisine Inputs

A method is developed for estimating model parameters, such as nondimensional stability and control derivatives, by fitting transfer function or state-space models to empirical frequency response data using the output-error approach. The frequency response data were computed using Fourier transforms of measured input and output data. The control surfaces were excited with periodic multisine inputs which facilitated time-ecient estimation of multiple-input multiple-output frequency responses. The method was applied to lateral data from a nonlinear flight dynamics simulation of the F-16 aircraft, and to longitudinal data from multiple repeated flight test maneuvers of the NASA T-2 subscale aircraft. Results using simulation data showed the frequency response method compared well to other standard methods for parameter estimation. In addition to including all the available inputs, outputs, and harmonic frequencies in the estimation, relatively small subsets of the measured data could also be used to focus on identifying specific parts of the model. Results from flight test data showed that parameter estimates and uncertainties determined from repeated maneuvers were accurate and in statistical agreement with each other.

Grauer, Jared A.↗

NASA NTRS2018

Output Measurement Equations for Flexible Aircraft Flight Dynamics

A summary of output measurement equations for onboard sensors used in flight testing of flexible aircraft is presented. These equations include the effects of structural flexibility and are considerably more complex than the standard equations for rigid-body aircraft. The output equations discussed include accelerations from linear accelerometers, strains, angular rates, angular accelerations, Euler angles, true airspeed, and air flow angles. The output equations are derived in full form and then simplified in some cases. Linearized output equations, suitable for state-space or transfer function models, are also developed. Example flight test data from the X-56A subscale aeroelastic demonstrator is discussed, for reference.

Grauer, Jared A.↗

NASA NTRS2018

Frequency-Domain Deconvolution for Flight Dynamics Applications

A deconvolution method is presented for estimating input data from measured output data and a model of the dynamic process involved. The method uses an optimal Wiener filter for separating the measured data into signal and noise components, and a high-accuracy Fourier transform for inverting the model dynamics in the frequency domain. The method is an extension of optimal Fourier smoothing, and uses a technique to enhance the contrast between the signal and noise spectra in designing the Wiener filter. The deconvolution method was applied to simulation and flight test data for the purposes of removing unwanted distortions introduced by signal-conditioning filters and sensor dynamics, and for reconstructing turbulence inputs from measured sensor data. Results indicated hat the method performs well given good signal-to-noise levels and accurate models of the dynamic process.

Grauer, Jared A.↗

NASA NTRS2018

A Learn-To-Fly Approach for Adaptively Tuning Flight Control Systems

A method is presented for adaptively tuning feedback control gains in a ight control sys- tem to achieve desired closed-loop performance. The method combines efficient parameter estimation for identifying closed-loop dynamics models, with online nonlinear optimization for sequentially perturbing and updating control gains to improve performance. Prior in- formation on stability and control derivatives is not needed, nor is any knowledge about the control system architecture. Following convergence, the optimized control gains (with uncertainties), the open-loop dynamics model, and the closed-loop dynamics model are available. The method is demonstrated for tuning a longitudinal stability augmentation system using a realistic nonlinear ight dynamics simulation of the NASA FASER airplane. Convergence was attained using five piloted maneuvers that spanned approximately one minute of ight test time. Although demonstrated for a relatively simple case, the method is general and can be applied to other aircraft, axes, performance metrics, and control systems.

Grauer, Jared A.↗

NASA NTRS2018

Real-Time Parameter Estimation for Flexible Aircraft

A method for estimating aeroelastic stability and control derivatives for flexible aircraft is developed and demonstrated using flight test data for the X-56A subscale demonstrator. The method uses the equation-error approach with frequency-domain data, and can be applied post-flight or in real time during flight. The non-dimensional aeroelastic forces and moments and the explanatory variables (including generalized displacement, rate, and acceleration states for the vibration modes) are estimated using a finite element model and onboard sensor measurements in both a least squares and Kalman filtering framework. The data are then transformed into the frequency domain for parameter estimation using equation error. This method can result in a more efficient analysis than with other iterative methods, and can leverage existing statistical tools for model structure determination, data collinearity detection, combining multiple maneuvers or prior information, and others to improve model quality.

Grauer, Jared A.↗

NASA NTRS2018

Practical Aspects of the Frequency Domain Approach for Aircraft System Identification

Practical aspects of the frequency-domain approach for aircraft system identification are explained and demonstrated. Topics related to experiment design, flight data analysis, and dynamic modeling are included. For demonstration purposes, simulated time series data and simulated flight data from an F-16 nonlinear simulation with realistic noise are used. This approach enables detailed evaluations of the techniques and results, because the true characteristics of the data and aircraft dynamics are known for the simulated data. Analytical techniques and practical considerations are examined for the finite Fourier transform, nonparametric frequency response estimation, parametric modeling in the frequency domain, experiment design for frequency-domain modeling, data analysis and modeling in the frequency domain, and real-time calculations. Flight data from a subscale jet transport aircraft are used to demonstrate some of the techniques and technical issues.

Morelli, Eugene A.↗

NASA NTRS2017

Position Corrections for Airspeed and Flow Angle Measurements on Fixed-Wing Aircraft

This report addresses position corrections made to airspeed and aerodynamic flow angle measurements on fixed-wing aircraft. These corrections remove the effects of angular rates, which contribute to the measurements when the sensors are installed away from the aircraft center of mass. Simplified corrections, which are routinely used in practice and assume small flow angles and angular rates, are reviewed. The exact, nonlinear corrections are then derived. The simplified corrections are sufficient in most situations; however, accuracy diminishes for smaller aircraft that incur higher angular rates, and for flight at high air flow angles. This is demonstrated using both flight test data and a nonlinear flight dynamics simulation of a subscale transport aircraft in a variety of low-speed, subsonic flight conditions.

Grauer, Jared A.↗

NASA NTRS2017

A Comparison of Three Random Number Generators for Aircraft Dynamic Modeling Applications

Three random number generators, which produce Gaussian white noise sequences, were compared to assess their suitability in aircraft dynamic modeling applications. The first generator considered was the MATLAB (registered) implementation of the Mersenne-Twister algorithm. The second generator was a website called Random.org, which processes atmospheric noise measured using radios to create the random numbers. The third generator was based on synthesis of the Fourier series, where the random number sequences are constructed from prescribed amplitude and phase spectra. A total of 200 sequences, each having 601 random numbers, for each generator were collected and analyzed in terms of the mean, variance, normality, autocorrelation, and power spectral density. These sequences were then applied to two problems in aircraft dynamic modeling, namely estimating stability and control derivatives from simulated onboard sensor data, and simulating flight in atmospheric turbulence. In general, each random number generator had good performance and is well-suited for aircraft dynamic modeling applications. Specific strengths and weaknesses of each generator are discussed. For Monte Carlo simulation, the Fourier synthesis method is recommended because it most accurately and consistently approximated Gaussian white noise and can be implemented with reasonable computational effort.

Grauer, Jared A.↗

NASA NTRS2017

Aeroelastic Modeling of X-56A Stiff-Wing Configuration Flight Test Data

Aeroelastic stability and control derivatives for the X-56A Multi-Utility Technology Testbed (MUTT), in the stiff-wing configuration, were estimated from flight test data using the output-error method. Practical aspects of the analysis are discussed. The orthogonal phase-optimized multisine inputs provided excellent data information for aeroelastic modeling. Consistent parameter estimates were determined using output error in both the frequency and time domains. The frequency domain analysis converged faster and was less sensitive to starting values for the model parameters, which was useful for determining the aeroelastic model structure and obtaining starting values for the time domain analysis. Including a modal description of the structure from a finite element model reduced the complexity of the estimation problem and improved the modeling results. Effects of reducing the model order on the short period stability and control derivatives were investigated.

Grauer, Jared A.↗

NASA NTRS2017

Flight Test Techniques for Quantifying Pitch Rate and Angle of Attack Rate Dependencies

Three different types of maneuvers were designed to separately quantify pitch rate and angle of attack rate contributions to the nondimensional aerodynamic pitching moment coefficient. These maneuvers combined pilot inputs and automatic multisine excitations, and were own with the subscale T-2 and Bat-4 airplanes using the NASA AirSTAR flight test facility. Stability and control derivatives, in particular C(sub mq) and C(sub m alpha(.)) were accurately estimated from the flight test data. These maneuvers can be performed with many types of aircraft, and the results can be used to increase simulation prediction fidelity and facilitate more accurate comparisons with wind tunnel experiments or numerical investigations.

Grauer, Jared A.↗

NASA NTRS2016

Aircraft Fault Detection Using Real-Time Frequency Response Estimation

A real-time method for estimating time-varying aircraft frequency responses from input and output measurements was demonstrated. The Bat-4 subscale airplane was used with NASA Langley Research Center's AirSTAR unmanned aerial flight test facility to conduct flight tests and collect data for dynamic modeling. Orthogonal phase-optimized multisine inputs, summed with pilot stick and pedal inputs, were used to excite the responses. The aircraft was tested in its normal configuration and with emulated failures, which included a stuck left ruddervator and an increased command path latency. No prior knowledge of a dynamic model was used or available for the estimation. The longitudinal short period dynamics were investigated in this work. Time-varying frequency responses and stability margins were tracked well using a 20 second sliding window of data, as compared to a post-flight analysis using output error parameter estimation and a low-order equivalent system model. This method could be used in a real-time fault detection system, or for other applications of dynamic modeling such as real-time verification of stability margins during envelope expansion tests.

Grauer, Jared A.↗

NASA NTRS2016

Parameter Uncertainty for Aircraft Aerodynamic Modeling using Recursive Least Squares

A real-time method was demonstrated for determining accurate uncertainty levels of stability and control derivatives estimated using recursive least squares and time-domain data. The method uses a recursive formulation of the residual autocorrelation to account for colored residuals, which are routinely encountered in aircraft parameter estimation and change the predicted uncertainties. Simulation data and flight test data for a subscale jet transport aircraft were used to demonstrate the approach. Results showed that the corrected uncertainties matched the observed scatter in the parameter estimates, and did so more accurately than conventional uncertainty estimates that assume white residuals. Only small differences were observed between batch estimates and recursive estimates at the end of the maneuver. It was also demonstrated that the autocorrelation could be reduced to a small number of lags to minimize computation and memory storage requirements without significantly degrading the accuracy of predicted uncertainty levels.

Grauer, Jared A.↗

NASA NTRS2015

A New Formulation of the Filter-Error Method for Aerodynamic Parameter Estimation in Turbulence

A new formulation of the filter-error method for estimating aerodynamic parameters in nonlinear aircraft dynamic models during turbulence was developed and demonstrated. The approach uses an estimate of the measurement noise covariance to identify the model parameters, their uncertainties, and the process noise covariance, in a relaxation method analogous to the output-error method. Prior information on the model parameters and uncertainties can be supplied, and a post-estimation correction to the uncertainty was included to account for colored residuals not considered in the theory. No tuning parameters, needing adjustment by the analyst, are used in the estimation. The method was demonstrated in simulation using the NASA Generic Transport Model, then applied to the subscale T-2 jet-engine transport aircraft flight. Modeling results in different levels of turbulence were compared with results from time-domain output error and frequency- domain equation error methods to demonstrate the effectiveness of the approach.

Grauer, Jared A.↗

NASA NTRS2014

NASA Langley Distributed Propulsion VTOL Tilt-Wing Aircraft Testing, Modeling, Simulation, Control, and Flight Test Development

Control of complex Vertical Take-Off and Landing (VTOL) aircraft traversing from hovering to wing born flight mode and back poses notoriously difficult modeling, simulation, control, and flight-testing challenges. This paper provides an overview of the techniques and advances required to develop the GL-10 tilt-wing, tilt-tail, long endurance, VTOL aircraft control system. The GL-10 prototype's unusual and complex configuration requires application of state-of-the-art techniques and some significant advances in wind tunnel infrastructure automation, efficient Design Of Experiments (DOE) tunnel test techniques, modeling, multi-body equations of motion, multi-body actuator models, simulation, control algorithm design, and flight test avionics, testing, and analysis. The following compendium surveys key disciplines required to develop an effective control system for this challenging vehicle in this on-going effort.

Rothhaar, Paul M.↗

NASA NTRS2014

Real-Time Parameter Estimation Using Output Error

Output-error parameter estimation, normally a post- ight batch technique, was applied to real-time dynamic modeling problems. Variations on the traditional algorithm were investigated with the goal of making the method suitable for operation in real time. Im- plementation recommendations are given that are dependent on the modeling problem of interest. Application to ight test data showed that accurate parameter estimates and un- certainties for the short-period dynamics model were available every 2 s using time domain data, or every 3 s using frequency domain data. The data compatibility problem was also solved in real time, providing corrected sensor measurements every 4 s. If uncertainty corrections for colored residuals are omitted, this rate can be increased to every 0.5 s.

Grauer, Jared A.↗

NASA NTRS2014

A Generic Nonlinear Aerodynamic Model for Aircraft

A generic model of the aerodynamic coefficients was developed using wind tunnel databases for eight different aircraft and multivariate orthogonal functions. For each database and each coefficient, models were determined using polynomials expanded about the state and control variables, and an othgonalization procedure. A predicted squared-error criterion was used to automatically select the model terms. Modeling terms picked in at least half of the analyses, which totalled 45 terms, were retained to form the generic nonlinear aerodynamic (GNA) model. Least squares was then used to estimate the model parameters and associated uncertainty that best fit the GNA model to each database. Nonlinear flight simulations were used to demonstrate that the GNA model produces accurate trim solutions, local behavior (modal frequencies and damping ratios), and global dynamic behavior (91% accurate state histories and 80% accurate aerodynamic coefficient histories) under large-amplitude excitation. This compact aerodynamics model can be used to decrease on-board memory storage requirements, quickly change conceptual aircraft models, provide smooth analytical functions for control and optimization applications, and facilitate real-time parametric system identification.

Grauer, Jared A.↗