An Integrated, Modular Simulation System for Education ... - Cal Poly

function and the dynamics were very simple. It is believed that the roll channel includedexcessive time delay resulting in the reported PIO. Several engineers tested the modeland observed similar tendencies in the roll channel.Kaman SH-2 - 3 Axis Non-Linear State Space Helicopter Model with FeedbackA verified full state,state space model of theKaman SH-2f helicopter(Figure 27.) was obtainedfrom a NASA/Cal Polyresearch project. The modelwas created using a modelfollowing architecture withthe trim conditions at 35Figure 27 Kaman SH2-Fknots in transitional forward flight. A model following control system uses dynamicsidentified using programs like NASA s CIFER. Model following control systems use alow order(1 st or 2 nd order) fit of the high order dynamics identified. The low ordertransfer functions are inverted and combined with feedbacks and cross feeds to removeundesired cross coupling of the controls and to wash out the dynamics of the originalplant. A model that the control system is designed to follow is placed in the forward path.Part of the original research task was to attempt to satisfy as many of the helicopterhandling qualities specifications [Ref. 37] as possible using the control architecture andCONDUIT software to fine tune the control gains.72