????? ??? Fuzzy Logic ?????? F-18 ?? ????? ??????

1
????? ???? ???? ????? ?? ???? F-14

• ??????
• ?? ??? ???? ?????
• ????
• ?"? ??? ?????

Rudolph E. Kalman
2
??? ?????

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• ???? ?????
• ????? ?????? ?????
• ????? ????? ?????? ????? ????
• ????? ?????? ???? ?? '???? ???' ????? ?????
• ????? ????? ???? ????? ?? ?????
• ????? ???????

3
???? ???????

• ????? ???? ???? ???? ????-??? (State FeedBack),
  ????? ?????? ????? ???? ???? F-14, ?????? ???
  ????? ?? ??????.

4
???? ?????

• ???? ??? ???? ????? ????? ????? ?????, ??? ?????
  (????????? ?? ????) ????? ??????? ??????-????.
• ???? ???? ????? ????? ?????? ?? ???? ?????.
• ?? ??? ????? ??? ???? ??? (State-Feedback
  Controller) ?? ???? ????? ?? ????? ?? ??? ??????
  ?? ??? ????.
• ?? ???? ???? ????? ?????? ?? ??? ?????? ???? (???
  ?????? ??????? ?? ??????? ?????) ???? ???? ?????
  ?? ???? ?? ??? ?????? ?????.
• ???? ???? ????? ???? ??? ?????? ????? (????, ???
  ??? ????) ?? ???? ?????, ?? ??? ????? ??????
  ????? ?????? ??????? , ????? ??? ????? ???????
  ???????????.

5
???? ?????
(????)

• ???? ?????? ???? ?????? ?? ?????? ???? ?????, ???
  ????? ?? ??? ????? ??? ?????.
• ?????, ????? ????? ?????? ??????? ?? ??????
  ??????? ???? ??? ????? ?????? ?????? ??????.
• ????? ????? ???? ????? ???????? ?????? ???????,
  ??? ????? ?? ?????? ????? ?? ??????? ??????
  ??????? (??????????? ?? ????? ?????, ?????
  ??????? ?????? ?? ???? ?????? ?????).
• ?????, ?? ????? ?? ?????? ????? ??????? ???? ????
  ????? ?? ??????? ?? ?????.

6
???? ?????
(????)
????? ???? ????? ?????? ?? ???? ???? ?? ??????
???? (???? F-14 ??????? ??? VSC ). ??????? ??
????? ????? ?????? ??? ?????? ????????? ???
?????? ??? ????????. ??? ??????? ????? ?????
??????? ????????? ????? ???? ?? ?????? ???
????????. ??? ????? ?? ??? ????? ?????? ????
???? ??? ????? ??????? ?? ???? ( EXTENDED KALMAN
FILTER), ?????? ?? ??????????? ?????.
7
??? ?'- ????? ????? ?????? ?????
???? ?????
X1 Lateral Velocity X2Yaw Rate X3 Roll
Rate X4Roll Angle w- State Noise (gaussian,
var.1) v- Mesurment Noise (gaussian, var.0.01)
????? ???? ???? ????? Variable Structure
Robust Flight Control System for the F-14 By
Sahjendra N. Singh, Marc Steinberg Robert D.
Digirolamo IEEE, Trans. On Aero. Elec. Sys.,
Vol 33, No.1 Jan, 1997
8
??? ?'- ????? ????? ?????? ?????
(????)

• ???? ????? ?????
• ????? ???? ??????
• ????? ??? ????-??? ????? ???? pole placement , ??
  ??????? ???? ??????
• ???????, ??? ????? ???-???? (???? ?????? ????
  ?????? ??????).
• ????? ??? ????? ?? ????? ?????.
• ????? ???????????? ??? ???? ??????? O
  .
• ??????????? ?? ?????? ???????, ??? ????? ?????
  ?????.
• ????? ??????? ?????????? ?? ?????, ??? ??????
• ???? ???? ?? ??"? ?? ???.
• ???? ?????? ?? ??"? ?? ???.
• ??? ???? ??? ???? ????????? ??????.
• ???????? ?????? ??

9
??? ?'- ????? ????? ?????? ?????
(????)

• ????? ???? ???? ??????? (matlab m-file) ???
  ????????

• ????? ???? ????? ?-Simulink
• ???? ????? ?- Simulink

10
??? ?'- ????? ????? ?????? ?????
(????)
???? ?????? ??????
11
??? ?'- ????? ????? ?????? ?????
(????)
?????? ????? ???? ????? (????? ????? ?????, ?????
?? 1 ????)
???? ????? ??????? ???? ?? ?????? ?????????
?????? ???????? ?????- ??? ??????? ????, ???????
?-x1 . ??? X3 ?????? ?????? ???????, ?? ??????
???? ????? ??? ???? ????? ??? ?????? ??????.
12
??? ?'- ????? ????? ?????? ?????
(????)
?????? ????? ???? ?????- ????? ?? 0.01 ????
???? ?????? ?????? ?????? ??? ??????, ????? ?-X1
?- X3.
13
??? ?'- ????? ?????? ?? ???? ??? ????? ?????
???? ??? ?? ????? ?? ????? ????? ????? ?? ???
????? (????? ??, X3) ?? ????? ???? ???? ???? ??
???? ????? ????? ??????. ??? ?? ???? ?????, ???
???? ??? ???? ???? ??????? ??"? ????? ????? ???
?????. ???? ????? ???? ???, ?????? ???? ??
??????? C
?????? ????? ?????? C, ????? ?? ???? ??????
????????????? ?? ??????
?????? ?? ???? ??????? O ???? 4, ????? ????? ????
?? ??????.
14
??? ?'- ????? ?????? ?? ???? ??? ????? ?????
(????)

• ????? X3 ???? Rv6350Rv_original. ???? ?????
  ??????? ???? ????, ?? ????? ?? ??????- ?????? ?-
  X3 ???? ?? ?????? ??????.

• ????? X3 ???? RvRv_original. ????? ???? X30
  ?????? ???? ?? ???? ??????.

??? ???????? ?? Rv, ????? ??? ?????? ???? ?????
???? ??????, ?????? ?????? ???? ???? ????? ??
?????? ?????? ???, ?????? ?????? ?? ?????? ??????
??? ???? ?????. ???? X3 ???? ?? ???? ??????.
???? ???? Rv ?????? ?- 6350, ?????? ????? ??????
??? ???????? ?? X1, X2, X4. ???? ?? ???? '????'
?- Rv ????? ?????? Rv ????? ????? '?????' ????
?? ?????? ??????? (????? ???? ?? X30), ?????? ??
???? ??? ???? ?????? ?????? ????? ?????. ????????
??????, ???? ????????? ?-Rv ???? 6350(Rv_orin).
15
??? ?'- ????? ????? ???? ????? ?? ?????

• ??? ???? X3 ??????? ????? ???? ????, ????? ????
  ????-???? ???? ???? ????? ?? ?????.
• ???? ?? ??? ????????? ????? ?? ?????? ?????
• ???? ????? ?? ?????? ????? ?? ????? ?? ?????
  ??????
• ????? ????? ???? ?????. ????? ???? ????. ??? ??
  ????? ?? ??? ????-???? ???? ??? ????? ???? ?? ???
  ????? ?????, ?? ??????

16
??? ?'- ????? ????? ???? ????? ?? ?????
(????)
??? ????, ????? ?? 1 ????
???? ??? ???? ?? 1 ???? ????? ?- Rv ???, X3 ?????
?? ????? ?????- ????? ?? ??? ?????? ??? ???????
?????? ??????? ??? ???? ????.
17
??? ?'- ????? ????? ???? ????? ?? ?????
(????)
??? ????, ????? ?? 0.01 ????
???? ????? X3 ?????? ????? ?????? ?????? ???????
?? ?????? ???????? ( ?????? ??????? ??? ????)
???? ?????, ???? ?? ?????? ????? ?????. ??????
??????? ????? ???? ??????? ???-????? ?? X3. ????
????? (????? ??????) ?? ?????? ????? ??????? ????
???? ????.
18
??? ?'- ????? ????? ???? ????? ?? ?????
(????)
???? ???? ????? ????? ??????
?????? ????? ???? ????? ?? ?????? ???? ?????
????? ?????? ????? ?????. ?????? ?????? ?????
???? ?? ?????? ?????? ??? ????? ?? ??????? ????
??? ???? ??? ??????, ??? ???? ???? ??????? ?????
??????? ???. ???? ?'???' ??? ?? ????? ???? ????
??????, ????? ??????? ??? ?????.
??? ????, ????? ?? 0.01 ?????.
19
??? ?'- ????? ????? ???? ????? ?? ?????
(????)
??? ????, ????? ?? 0.01 ????
???? ????? ????? ???? ???? ?????? ?? ???? ?????,
?? ???? ????? ?? ?????? ????? ??????-???.
20
????? ???????

1. ???? ???? ???? ??? ???? ???? ?????? ????? ??
   ????? ?????. ??? ?????? ?? ??? ????? ??? ???? ???
   ????????, ???? ????? ?? ??? ??? ?? ????? ?????
   ???? ??? ?????? (?????? ???? ???????????).
2. ???? ????? ????? ???? ??????? ????? ????? ???
   ???? ?? ????? ?????. ????? ?? ?????, ?????? ????
   ?????? ???? ?? ????? ???????? (???????) ?????
   ???? ?? ????? ??????? (?????) ?? ?????? ?? ?????
   ??-??????.
3. ??? ?????? ????? ????? ????? ??? ?? ???? ??????
   (100 Hz). ??? ?????? ?? ??? ??????, ?????? ????
   ????? ???? ?????.

21
????? ???????
(????)
4. ???? ?????? ????? ???? ?????? ?? ???? ?????
?????? ?? ??????. ??????? ??? ???? ???? ????? ???
??? ???????? ???? ???? ???? ??? ?????. ???, ?????
???? ????????? ????? ????-?????? ?? ??????, ?????
??????? ????? ???. 5. ??? ???? ???? ???? ?? ?????
???, ?? ?? ????? ???? ?? ?????? ??????. ????? ???
???? ????? ???? ????? ??? ???, ???? ???? ????
???? ?? ?????? ?? ??? ???? ??????? ?????? (??????
???? ????, ?? ?? ????? ?????? ???? ???? ??
??????).
-???-