KR101862221B1 - Flight control law simulation method and apparatus - Google Patents

Abstract

The present invention discloses an aircraft flight control law simulation apparatus. The apparatus comprises a HETLAS subsystem module comprising a plurality of subsystem modules for simulating the entire system of an aircraft, the HETLAS subsystem module comprising a base helicopter mathematical model of a main rotor, a tail rotor, a fuselage and a tail, a HETLAS main module that calls and executes each HETLAS subsystem module based on a driver file, and the HETLAS module and the HETLAS subsystem module are linked with each other based on the driver file and an SDC (Subsystem Data Connection) file , The interface comprising a driver file having an input / output parameter of a structure type and calling the corresponding subsystem module.

Description

TECHNICAL FIELD [0001] The present invention relates to a flight control law simulation method and apparatus,

The present invention relates to a flight control law analysis and test method and apparatus, and more particularly, to a method and apparatus for efficiently performing repetitive control law design / analysis and test procedures.

The development and verification process of the electronic flight control system is time consuming and costly in the entire development cycle of the aircraft due to its importance and complexity. Therefore, shortening the development period of the flight control system and reducing the consumption of the flight test have a great influence on the development cost and duration of the aircraft.

In recent years, development tools such as Matlab / Simulink and CONDUIT (CONtrol Designer's Unified InTerface) have been used to facilitate the design and analysis of basic control laws and the optimization of control laws in accordance with quantitative criteria.

Recently, a variety of control modes are used for the flight control system, including gain scheduling, mode switching logic, and failure compensation techniques. The evaluation of these control modes is essential for the safety review of the flight control law.

However, evaluation of various scheduling and logic according to the transitional section and aircraft maneuver during mode switching can not be performed using development tools such as matlab / simulink and CONDUIT, and the pilot evaluation environment using the high - reliability nonlinear aircraft model It is possible through.

In this way, the development of the flight control software is based on the design of the control law, control optimization for satisfying requirements, linear analysis, nonlinear simulation analysis, flight control maneuverability by pilots, hardware in the loop (HILS) Simulation, test evaluation, and flight test, which are time consuming and user 's efforts to overload the simulation.

In order to solve the above-described problems, an object of the present invention is to minimize the development period / cost and risk of an aircraft and to efficiently apply the control law and test the flight control system in order to maximize the performance and reliability of the flight control system. It provides integrated development tools that can be performed and "Rapid Prototyping" methods.

According to another aspect of the present invention, there is provided an aircraft flight control law simulation apparatus including a HETLAS subsystem module including a plurality of subsystem modules for simulating an entire system of an aircraft A HETLAS main module that calls and executes each HETLAS subsystem module based on a driver file, and a HETLAS main module that executes the driver file and the Subsystem Data Connection (SDC) ) File, and the HETLAS module and the HETLAS subsystem module are interfaced with each other. The interface may be a driver file having a structure type input / output parameter and calling the corresponding subsystem module.

The driver file may be a file generated by an automation program for each subsystem model using the information of the subsystem model defined in the SDC file.

And generates a control law automatic code and a CLAW (Control Law) interface wrapper file so as to interface with other software through an automatic code generation procedure based on a newly developed control law, and generates the control law automatic code and CLAW The interface wrapper can be interlocked with a plurality of subsystems and a nonlinear simulation evaluation of the control law automatic code can be performed.

The aircraft flight control law simulation apparatus includes a desktop engineering simulator (DESHE) for performing evaluation of a control mode including gain scheduling, mode switching logic and failure compensation scheme of the developed flight control law, and an SDC and driver file Based interface structure and a HILS interworking module for interworking with a hardware-in-the-loop-simulation (HILS) environment.

The HETLAS subsystem module includes a pilot subsystem module for receiving interloak input data from a pilot, an FCS subsystem module for reading interloak input data transmitted from the pilot subsystem module and generating signals necessary for execution, An actuator subsystem module for generating operation control signals corresponding to the signals transmitted from the FCS subsystem module, and an actuator subsystem module for generating motion control signals corresponding to the signals transmitted from the FCS subsystem module, And a mechanical flight control system module for calculating the rotor blade angle from the actuator displacement of the control command of the control command and transmitting it to the analysis module.

Wherein the HETLAS subsystem module comprises: a signal generator subsystem module for generating signals representative of environmental variable data during helicopter start-up; and a control unit operable to receive operation control signals transmitted from the actuator subsystem module, A helicopter six degree of freedom module for calculating the forces and moments received by the helicopter's torque, body, main rotor, tail rotor, vertical stabilizer, and horizontal stabilizer according to signals representing the data.

The HETLAS main module calls the FCS subsystem module, the actuator subsystem module, the signal generator subsystem module, and the helicopter 6 degree-of-freedom module according to a trim execution command input from the pilot through the pilot subsystem module The FCS subsystem module, the actuator subsystem module, the signal generator subsystem module, the helicopter 6-degree-of-freedom system, and the helicopter 6-degree-of-freedom system according to a linearization execution command input from a pilot through the pilot subsystem module. Module, a helicopter linearization analysis module that performs a linearization operation by calling a module, and a simulation execution command input from a pilot through the pilot subsystem module, wherein the FCS subsystem module, the actuator subsystem module, And a helicopter simulation analysis module that performs a simulation operation by calling a six degree of freedom module.

The aircraft flight control law simulation apparatus may further include a control law development module that provides a tool for developing a flight control law.

According to the aircraft flight control law simulation method and apparatus according to an embodiment of the present invention, test / evaluation using the same control law model from nonlinear simulation analysis to desktop engineering simulation simulator DESCH, maneuverability simulator and HILS mounted software environment .

In addition, according to the method and apparatus for simulating an aircraft flight control law according to another embodiment of the present invention, it is possible to efficiently perform flight control law development by an interlocking process based on HETLAS in the above process for developing a control law have.

FIG. 1 schematically illustrates a method for developing a flight control law according to an embodiment of the present invention. FIG.
Figure 2 shows a HETLAS batch analysis environment,
FIG. 3 is a schematic view illustrating a configuration of a flight control law simulation apparatus according to an embodiment of the present invention.
4 is a diagram illustrating an internal interface configuration of a flight control law simulation apparatus according to an embodiment of the present invention;
5 is a view for explaining a method of integrating a flight control law simulation apparatus and a control law according to an embodiment of the present invention;
FIG. 6 is a diagram for explaining a desktop engineering simulation through a flight control law simulation apparatus according to an embodiment of the present invention; FIG.
7 is a view for explaining a method of integrating a flight control law simulation apparatus and an HQS according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail.

It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In order to facilitate the understanding of the present invention, the same reference numerals are used for the same constituent elements in the drawings and redundant explanations for the same constituent elements are omitted.

Throughout this specification, the flight control law simulation module (or device) may be a software program. It can be used as a helicopter flight mechanics analysis program based on Windows workstation and can be used to develop flight control law system by providing high fidelity factor based modeling technique and trim, linearization and simulation technique which is flight analysis module. The flight control law simulation module may be stored on a computer readable recording medium and may be referred to as HETLAS: HElicopter Trim, Linearization And Simulation.

1 is a schematic view illustrating a method of developing a flight control law according to an embodiment of the present invention.

Referring to FIG. 1, the development of the flight control law using the HETLAS is carried out from the nonlinear simulation analysis to the Desktop Engineering Simulator using HETLAS (DESHE), the tuning simulator, and the hardware software of the hardware-in-the-loop simulator Environment to the test / evaluation using the same control law model.

First, based on the HETLAS linearized mathematical model (including trim and linear analysis program), basic control law is designed by using development tools such as matlab / simulink and CONDUIT, It is possible to perform closed-loop analysis of the region. Then, the control law that selects gain by performing linear analysis is converted into automatic code for simulation evaluation using high fidelity nonlinear model. HETLAS provides an interlocking procedure of control laws and subsystems converted to automatic codes, enabling simple nonlinear simulation evaluation.

Through the Desktop Engineering Simulator (DESHE) using HETLAS, it is possible to evaluate various control modes such as gain scheduling of flight control law, mode switching logic, and fault compensation technique. Next, it can be linked with the HILS environment which tests the maneuverability simulator and the mounting system by utilizing the HETLAS interface structure using the SDC (Subsystem Data Connection) file and the driver file. The control law can be simulated through the interlocking, and the repetitive flight control law can be developed and the penalty can be efficiently performed.

Figure 2 shows a HETLAS batch analysis environment.

In an embodiment of the present invention, a high-fidelity mathematical model may be required for the development of flight controllers with high bandwidth. The HETLAS according to an embodiment of the present invention can employ a level 2 mainter modeling technique and a selectively available level 1 and level 2 tail rotor modeling technique for high-fidelity modeling.

An aerodynamic model for the airframe can utilize a wind tunnel test database for a scale model with horizontal and vertical stabilizers on the fuselage and fuselage. Especially, for aerodynamic flight analysis with angular velocity, aerodynamic characteristics of vertical and horizontal stabilizers can be databaseized using separate table by utilizing the above wind tunnel test database. An aerodynamic database for high angles of attack and side slip angles can be constructed using empirical formulas. FBW Flight Control System (FCS) The flight mechanics analysis module required for the development environment can be largely classified into the trim analysis, the linearization, and the simulation module for the control input. For this purpose, HETLAS is simulated using the harmonic balance method, the trim analysis using the periodic trim method, the linearization analysis using the micro-perturbation theory, the fourth-order Runge-Kutta time integration method and the RTAM-3 (Real-Time Adams-Moulton) time integration method. And the like.

Referring to FIG. 2, in order to perform analysis of various conditions in a batch, an analysis condition is defined using a configuration file as shown in FIG. 2, a batch analysis environment for sequentially reading each configuration file, Can be considered. In addition, the configuration file can be configured to use various commands for setting analysis conditions and for user convenience. The main commands are "call", "halt" and "connection." The "call" command provides the ability to change the value of a defined variable by calling the subsystem model (eg call analysis ; height = 1000;), "halt" command pauses during simulation for evaluation of various control logic, provides a means to change input values such as switch data and re-execute simulation. Performs the analysis by redefining the data connection definition defined in the SDC (Subsystem Data Connection) file with a connection command in each configuration file.

The time domain simulation can be configured so that the simulation can be started from various trim states of the user defined airplane by loading and executing the "* .trm" file which is the result of the trim analysis.

3 is a schematic diagram illustrating a configuration of a flight control law simulation apparatus according to an embodiment of the present invention. 3, a flight control law simulation apparatus (e.g., HETLAS) according to an embodiment of the present invention includes an interface 210, an execution module 212, a shared memory 214, an instruction interpretation module 216, An SDC interpretation module 218 and a plurality of subsystem modules 220, 230, 240, 250, 260, 270, and 280.

Referring to FIG. 3, the execution module 212, the shared memory 214, the instruction interpretation module 216, and the SDC interpretation module 218 may constitute a main module. The execution module 212 may perform a function of calling and executing a driver file of each subsystem module. The shared memory 214 may store various data stored in a database. The command interpreting module 216 interprets various computer commands including the above-described "call "," halt ", and "connection ", and can call the subsystem module through the driver file . The SDC interpretation module performs the function of interpreting the SDC file.

The plurality of subsystem modules 220, 230, 240, 250, 260, 270 and 280 includes a pilot subsystem module 220, a sensor subsystem module 230, an actuator subsystem module 240, a helicopter flight dynamics analysis Module 250, an Flight Control System (FCS) subsystem module 260, a Swashplate subsystem module 270, and a mechanical steering module 280. [

The FCS subsystem module 250 is a subsystem module that receives data necessary for performing control logic analysis such as pilot input data and sensor data in conjunction with the designed control law and delivers the control output. The pilot subsystem module 220 is a subsystem model that generates control inputs over time using predefined user inputs to simulate pilot pilot inputs. The sensor subsystem module 230 can simulate basic aerodynamic motion information such as a correction airspeed rate, an increase rate, a ground speed, etc., generated in the sensor of the aircraft using the analysis result of the flight dynamics module. When the maneuverability simulator is interlocked, the altitude data of the terrain received from the IG (Image Generator) image can be used to output the radar altitude. The actuator subsystem module 240 may be modeled using the aircraft main and tail rotor actuator transfer functions. The MFCS subsystem model 280 is a helicopter's mechanical steering model that can calculate rotor blade angles from the actuator displacements of the control commands and pass them to the analysis module.

In addition, the HETLAS program is a helicopter six degree-of-freedom module, which includes an engine subsystem module for calculating the engine thrust using an engine database, and an engine subsystem module for calculating the engine thrust using the aerodynamic parameters for each component in the aerodynamic database. A main rotor sub-system module, a tail rotor sub-system module, a vertical stabilizer module, and a horizontal stabilizer module, which calculate six degrees of freedom of each component of the helicopter.

In addition, the HETLAS according to the present invention is a helicopter 6-DOF module and other subsystems for transmitting and receiving signals. The FCS subsystem module 260 performs helicopter operation corresponding to inter-cooperative input data transmitted from the pilot subsystem module 220 The main rotor collective signal, the tail rotor collective signal, the lateral cyclic signal, and the long periodic cyclic signal. have.

The actuator subsystem module 240 generates an operation control signal corresponding to the main rotor collective signal, the tail rotor collective signal, the lateral cyclic signal, and the long geodetic cyclic signal transmitted from the FCS subsystem module 260, Can be transmitted to the corresponding module of the six degree of freedom modules.

The sensor subsystem module 230 includes a signal for generating signals indicative of other environmental variable data during helicopter start, a signal for indicating an operation control signal from the actuator subsystem module 240 and environment variable data from the signal generator subsystem module To detect the operation of the helicopter 6 DOF modules according to the present invention.

In the HETLAS configuration, the execution module 212 specifies a call execution order, a number of times, and a variable input / output relationship of the corresponding subsystem modules in the subsystems according to the user's trim execution command, and then performs a trim operation on the helicopter trim module A helicopter linearization analysis module that performs a linearization operation after specifying a call execution order, a frequency, and a variable input / output relationship of corresponding subsystem modules in the subsystem modules according to a user's linearization execution command, And a helicopter simulation analysis module for performing a simulation operation after specifying a call execution order, a frequency, and a variable input / output relationship of the corresponding subsystem modules among the modules.

Also, the internal interface 210 is connected to the subsystem modules and the HETLAS main module. The interface 210 may use a driver file. A driver file is a program file that has a structured form of input / output parameters and calls the corresponding subsystem model. This creates an automatic program file for each subsystem model using the information of the subsystem model defined in the SDC file.

4 is a diagram illustrating an internal interface configuration of a flight control law simulation apparatus according to an embodiment of the present invention.

Referring to FIG. 4, the HETLAS internal interface may operate using driver file 414 and SDC file 420. The HETLAS executable module 410 calls the driver file 414 and the driver file 414 calls the respective subsystem module 416. [ Thus, the driver file 414 may provide a means by which the HETLAS executive module 410 may invoke subsystem modules 416 with different input / output parameters in the same and structured structure.

The SDC file 420 is a file containing data information necessary for executing the subsystem 416 in the HETLAS, and includes an input variable, an output variable, a variable type, a data flow information (a subsystem name And data name) and the execution cycle of the subsystem model 416, and the like. Data related to the execution of the entire HETLAS subsystem module 416 can be integrated and managed using the SDC file 420. [ Therefore, not only the creation of the driver file 414 using the SDC file 420 but also the connection of data on the shared memory 412 or the addition of a new subsystem module 416 Can be performed efficiently.

When performing the simulation analysis, the HETLAS main execution module 410 reads the data connection definition (input_name #B, "subsystem #C: variable #D") of the subsystem (subsystem name #A, 'sim_connection' So that the input variable #B of the subsystem #A is injected into the output variable #D of the subsystem #C to be executed. The addition of the new subsystem model is possible by storing the relevant information in the SDC and creating the driver file 414 and including it in the executable item.

5 is a view for explaining a method of integrating a flight control law simulation apparatus and a control law according to an embodiment of the present invention.

5, until now, most of the control law development tools and nonlinear flight dynamics aircraft models have not been developed into an environment that can be integrated with each other, so evaluation through user simulation of control laws is always complicated and time consuming In-process.

However, according to the embodiment of the present invention, it is possible to provide a procedure for interworking between HETLAS and a control law that minimizes such a procedure for efficient rapid prototyping, and can efficiently test it.

As described above, the development of the basic control law is designed through the matlab / simulink environment included in the flight control law simulation apparatus, and the optimization of the control gain that meets the stability, controller performance and maneuverability evaluation criteria is performed through the CONDUIT . According to an embodiment of the present invention, the flight control law simulation device may provide flight control law development tools such as mart / simulink and CONDUIT.

The control law designed in this way can be generated as "C" code according to the automatic code generation procedure through Matlab / Simulink's Real-Time Workshop Embeded Coder. At this time, in the option of automatic code generation, CLAW (Control Law) interface wrapper file is generated together with the control rule automatic code by applying the "File customized Templates" function of "Templates" to interface with HETLAS and mounting software .

You can create a CLAW interface wrapper that defines the desired external interface form in the Customized Template File, and thus calls the auto code with the input / output parameter form. Therefore, the CLAW interface wrapper has a form of parameter input / output syntax that is also defined in a change of control laws such as control law logic changes or gain modification. This can provide a means of interfacing with the outside in the same form in the course of the iterative control law development process.

In HETLAS, we can design the FCS interface wrapper to interwork with the control law automatic code CLAW interface wrapper created in Matlab / Simulink to include the FCS subsystem model to simulate the function of flight control computer. The FCS interface wrapper can call the CLAW interface wrapper in the form of a parameter defined in the Customized Template File as a predefined program file considering interworking with the CLAW interface wrapper.

Therefore, the simulation analysis using the nonlinear flight dynamics aircraft model from the control law design is performed efficiently without modifying the internal program by the procedure of ① control law modification, ② automatic code generation, ③ embedding and recompiling in the HETLAS FCS subsystem model, and ④ analysis execution This is possible.

6 is a diagram for explaining a desktop engineering simulation through a flight control law simulation apparatus according to an embodiment of the present invention.

Referring to FIG. 6, HETLAS provides a time domain simulation analysis function for the steering input values using the FCS subsystem module integrated with the control law, the pilot subsystem module, and the analysis module. Control law designers can use these HETLAS simulations and various command functions to perform evaluation of logic designed in non-real-time environments. However, evaluation of flight maneuverability, stability during mode switching, or automatic flight mode is more intuitive and efficient in a pilot-controlled simulation environment. To this end, according to an embodiment of the present invention, a Desktop Engineering Simulator using HEtlas (DESHE) can be provided as shown in FIG. 6 by using an interface structure in which HETLAS can be easily extended.

Through this, a scheduler subsystem can be developed and each subsystem model can be invoked at a specified time interval during time integration of the simulation to allow the analysis to be performed. Also, the image sub-system and control sub-system can be developed and added to the simulation environment. The newly developed subsystem can define the subsystem data information and the data flow in the SDC file using the HETLAS interface structure and generate the driver file and add it to the executable program so that the interworking can be performed smoothly.

The image subsystem can implement a simulator screen using x-plane, which is a commercial simulation program. The X-plane provides the necessary libraries and functions for image visualization. Using this, we can create a dynamic library plugin and add it to the x-plane. In the HETLAS image subsystem, it is possible to transmit aircraft data for image visualization through UDP communication, and the x-plane can be configured to display the data transmitted by the plugin using the x-plane internal library and function.

According to an embodiment of the present invention, the inter-control sub-system may use a commercial control point. In the real-time simulation environment, the pilot's steering input is received and the data is transmitted to the analysis subsystem. The maneuverability simulator is a key tool that is essential for the design, development, and verification of flight control systems performed from the initial design stage to the final stage of the flight test. According to the embodiment of the present invention, the present invention provides an environment in which a control law developed using HETLAS and DESHE can be linked with a real-time operating system (OS) based maneuverability simulator. Therefore, it is possible to verify the validity of the flight control law by performing the stability margin, the maneuverability characteristic analysis, and the sensitivity analysis according to the flight condition using the maneuverability simulator.

The internal interface structure of the maneuverability simulator can have an execution structure using a driver and an SDC file like HETLAS. Copy and recompile HETLAS full program files such as SDC file with HSSLAS 'FCS subsystem, flight dynamics model and other subsystem models including control law to the pilot simulator environment without any modification, And can be executed in cooperation with each other. At this time, the executive program of the maneuverability simulator can regenerate the driver file using subsystem information defined in the SDC file of HETLAS and the maneuverability simulator, and can perform data connection in simulation.

Therefore, the control law integrated with FCS subsystem of HETLAS using CLAW interface wrapper can be able to verify the maneuverability in a real-time OS-based simulator environment without any modification.

7 is a view for explaining a method of integrating a flight control law simulation apparatus and an HQS according to an embodiment of the present invention.

Referring to FIG. 7, HETLAS applied to the simulator environment and a check case simulation test configured with various pre-defined pilot inputs and flight conditions are performed to confirm the accuracy of the control law. The check-case simulation test is a test to compare the dynamic reaction change trend of the aircraft to the control input for each condition by comparing the non-real-time simulation results of HETLAS with the results of the real-time simulator environment.

The maneuverability simulator is a key element of the HILS test, which is integrated with flight control system components such as flight control computer, drive system, and sensor system to verify its performance and safety before the flight control system is mounted on the aircraft. In the HETLAS-pilot simulator environment, the execution of the HILS test is possible by redefining the connection of the HETLAS SDC file. Modify the data to receive from the SIU (Signal Interface Unit) and replace it with the hardware components. The FCS subsystem and the actuator subsystem may be replaced by a drive unit and a flight control computer, respectively. SIU is a device that performs data communication with external hardware components using AD / DA converter. It transfers the output of the drive hardware to the HETLAS dynamics model and transmits the dynamic response of the dynamics model to the flight control computer. do. The flight management program and the flight control software are integrated with the flight control computer and are used for independent verification (Stand-Alone V & V, SAVV), Integrated System V & V (ISVV) and Failure Modes and Effects Test , FMET) and then mounted on the aircraft. Here, the integrated system test and the failure mode influence test are performed through the HILS environment and can be performed using the HETLAS-controllability simulator interworking environment.

Therefore, the development of the flight control law using HETLAS enables testing / evaluation from the nonlinear simulation analysis to the desktop engineering simulator DESHE, the maneuverability simulator and the HILS embedded software environment using the same control law model. In the course of developing such a control law, the HETLAS-based interlocking process ensures that flight control law development is performed efficiently.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions as defined by the following claims It will be understood that various modifications and changes may be made thereto without departing from the spirit and scope of the invention.

Claims (8)

A HETLAS subsystem module comprising a plurality of subsystem modules for simulating the entire system of an aircraft, the HETLAS subsystem module comprising a basic helicopter mathematical model of a main, tail rotor, fuselage and tail;
A HETLAS main module that calls and executes each HETLAS subsystem module based on a driver file;
An interface for performing interworking between the HETLAS main module and the HETLAS subsystem module based on the driver file and an SDC (Subsystem Data Connection) file; And
Including a control law development module that provides a tool for developing flight control laws,
The interface comprises a driver file having an input / output parameter of a structure type and calling a corresponding subsystem module,
The flight control law designed through the control law development module is designed in a MATLAB and SIMULINK environment,
The stability of the flight control law, the performance of the controller and the optimization of the control gain are performed through the CONDUIT (CONtrol Designer's Unified InTerface)
The flight control law is generated as C code according to the automatic code generation procedure through the real time encoder of Matlab and Simulink, and the file customized template function of the automatic code generation option is applied, and CLAW (Control Law) interface wrapper file to create interfaces to be interfaced with HETLAS and HETLAS embedded software,
Wherein the SDC file includes information on an execution period of a plurality of subsystem modules. The method according to claim 1,
Wherein the driver file is generated by an automation program for each subsystem model file using information of the subsystem model defined in the SDC file. The method according to claim 1,
Wherein the control law automatic code and the CLAW interface wrapper are interlocked with a plurality of subsystems and the nonlinear simulation evaluation is performed for the control law automatic code. The method according to claim 1,
A desktop engineering simulator (DESHE) for performing evaluation of a control mode including gain scheduling of the flight control law, mode switching logic and fault compensation techniques; And
Further comprising a HILS interworking module for interfacing with an HILS (Hardware-In-the-Loop-Simulation) environment utilizing SDC of the HETLAS subsystem module and an interface structure based on a driver file . The system of claim 1, wherein the HETLAS subsystem module
A pilot subsystem module for receiving interloop input data from a pilot;
An FCS subsystem module for reading interloak input data transmitted from the pilot subsystem module and generating signals necessary for execution;
A sensor subsystem module for simulating motion information generated by an aircraft sensor using analysis results of a flight dynamics model;
An actuator subsystem module for generating operation control signals corresponding respectively to signals transmitted from the FCS subsystem module; And
And a mechanical flight control system module for calculating the rotor blade angle from the actuator displacement of the control command of the actuator subsystem module and transmitting the calculated rotor blade angle to the analysis module. 6. The HETLAS subsystem module of claim 5,
A signal generator subsystem module for generating signals representative of environmental variable data during helicopter start-up; And
The torque of the helicopter, the main rotor, the tail rotor, the vertical stabilizer, and the horizontal stabilizer are determined according to the operation control signals transmitted from the actuator subsystem module and signals indicating the environment variable data transmitted from the signal generator subsystem module Further comprising a helicopter six degrees of freedom module for calculating forces and moments to be received. 7. The HETLAS main module of claim 6,
A helicopter for performing a trim operation by calling the FCS subsystem module, the actuator subsystem module, the signal generator subsystem module, and the helicopter 6 degrees-of-freedom module according to a trim execution command received from the pilot through the pilot subsystem module; Trim Analysis Module;
A helicopter for performing a linearization operation by calling the FCS subsystem module, the actuator subsystem module, the signal generator subsystem module, and the helicopter 6 DOF module according to a linearization execution command received from a pilot through the pilot subsystem module, Linearization analysis module; And
And a helicopter simulation analysis module for performing a simulation operation by calling the FCS subsystem module, the actuator subsystem module, and the helicopter 6 degrees-of-freedom module according to a simulation execution command input from the pilot through the pilot subsystem module Aircraft flight control law simulation device characterized.

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