FVSysID ShortCourse 1 Introduction1

One-Day Tutorial on
Flight Vehicle System Identification in Time Domain
Dr. Ravindra Jategaonkar
InstituteofFlightSystems
DLR- GermanAerospaceCenter
Lilienthalplatz 7
38108Braunschweig,Germany
Email: jategaonkar@dlr.de
Phone: +49531295-2684
Fax:
+49531295-2647
AIAA Professional Development Tutorial, Keystone, CO
24 August 2006
AIAA Short Course: Flight Vehicle System Identification in Time Domain, Aug. 2006
Introduction/1
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Introduction/2
Contents of Tutorial
Introduction
Overview: Definitions, what is and why SysId, Historical background and Quad-M Basics
Maneuvers
General Aspects, Flight Tests/Maneuvers, Various Types of Inputs
Measurements
General Aspects, Data Compatibility Check, Different Types of Problems
Methods
Model Formulation, Cost Function, Optimization Methods, Numerical Aspects, ...
Models
General Aspects, Linear and Nonlinear Models, Current Trends
Validation
General Aspects, Different Criteria, Procedures, Examples
Examples
C-160 Aerodynamic Data Base,
DO-328 Proof of Match
X-31A High Angle of Attack Modeling,
Phoenix Reusable Orbital Glider
Bo-105 and EC-135 Helicopter: High Bandwidth Models
Software Tools
Fortran and Matlab based
Introduction/3
Introduction/4
Objectives and Key Topics of the Tutorial

Overview of key methods of parameter estimation in time domain
Not highly mathematical, rather emphasis on practical utility
Large scale systems
Cover aspects of parameter estimation and model validation
Several examples from real flight data to bring out wide applicability
of time domain methods to highly nonlinear phenomenon
Review some available tools
Goals:
- Better understand the importance of coordinated Quad-M approach
- Get to know the intricacies in the application of time domain method
- Be in a better position to address individual problems
Introduction/5
Introduction/6
What is System Identification? (1)

Classification of Problems in System Theory
Inputs
u
State
Equations
.
x = f (x, u, )
Outputs
z/y
Classical problem (Simulation):

given u and f, find y
Control problem:
given y and f, find u
Identification problem:
given u and z, find f
Introduction/7
Dynamic System
Mathematical Model
u
x& (t ) = f ( x (t ), u (t ), )
y (t ) = g ( x (t ), u (t ), )
AIM:
To determine unknown model parameters
such that the model response y matches well
with the measured system response z.
Introduction/8

Technical Definition
Philosophical Definition
System Identification is the determination,

on the basis of observation of input and
output, of a system within a Specified class
of systems , to which the system under test
is equivalent.
Zadeh 1962
Given the answer, what are the questions,

i.e., look at the results and try to figure out
what situation caused those results.
Iliff 1994
SysID: an Inverse Problem

(1) System Identification
Concerned with the mathematical

Structure of a flight vehicle model
(2) Parameter Estimation

Quantifying of parameters for a
selected flight vehicle model
In the commonly used terminology PID appropriate?

Introduction/9

Definitions: Simulation, Parameter Estimation, and System Identification
Dynamic System
Model structure
and parameters
known a-priori
Simulation
Concerned with the
computation of
system responses
Numerical integration
Model structure
and parameters
unknown
Mathematical Model ?
Model
structure
fixed
Parameter estimation
Concerned with the
quantification of
parameter values
Statistical estimation
of parameters
System identification
Concerned with the
model structure
determination and
estimation of
parameters
Introduction/10

Interdisciplinary Flight Vehicle Modeling
Low Order Dynamics
Higher Order Dynamics
Transfer
Function
(Magnitude)
Model Parameter
Uncertainty
Envelope of
"True" Systems
Model
Structure
Uncertainty
Nominal Model
Possible
"True" System
Frequency
Flight Mechanics Modeling

Flight Control Modeling
Structural Dynamics Modeling
Aeroservoelastic Modeling
Introduction/11

Block Schematic of System Model
u
Dynamic System
Process noise
(turbulence)
Measurement
noise
State Equations
Inputs
x& (t ) = f ( x(t ), u (t ), )
Aircraft mass
characteristics
Measurement Eq.
States
Aerodynamics
(unknown
parameters)
y (t ) = g ( x(t ), u (t ), )
Sensor
locations
Outputs
Sensor model
(calibration factors,
bias errors)
AIM: To determine unknown model parameters such that the model

response y matches well with the measured system response z.
Introduction/12
Some Fundamental Assumptions

True state of dynamic system is deterministic (unchanging):
- real valued system functions
- iterative experimentation and data analysis converges to the truth
It is possible to carry out specific experiments:

- different modes of dynamic motion (flight vehicle; economic systems?)
- design experiments
Measurements of system inputs and outputs are available:

- directly measured or derived quantities
Physical principles underlying the dynamic process can be modeled:

- model implies mathematical description of the process
- phenomenon purported to underlie the process
- black-box models (Neural networks)
Introduction/13
Model Characterization (1)

Model characterization: a critical aspect of paramount importance
1) Phenomenological models:
a) Parametric models:
- knowledge based,
- built from basic principles,
- involves physics of the process
2) Behavioral models
- approximate observed behavior,
- no physical meaning
- model structure and order assumed,

- state space models, transfer functions
b) Nonparametric models
- No model structure or order assumed,
Phenomenological
Parameters
Simulation
A priori info
Validity
- impulse response, frequency response
Behavioral
physical meaning
no concrete meaning
complex and difficult quick and easy
included
not necessary
large
restricted
Introduction/14

Three types of models
White Box models
- Derived from theoretical formulation of phenomenon purported
under lie the process under investigation
(Newtonian mechanics, parameters having physical interpretation)
- To reproduce system structure and match the system response
Black-Box models
- Input-Output subspace matching
(Neural networks)
- To Reproduce the system response
Grey-Box models
- Combination of above two models
Introduction/15

Parsimonious models
Principle of parsimony (Principle of Simplicity; Ockhams Razor)
The number of entities should not be increased beyond what is
necessary to explain anything.
Methodological principle
- minimizes redundancies and inconsistencies in the model
- helps to determine the best model
- model representation with minimum number of parameters,
yet having fidelity within specified tolerances
Ockham: English theologian and Philosopher, early 14th Century
Introduction/16
Why System Identification?

Need and quest to better understand the system
- Cause-effect relationship purported to underlie the physical phenomenon
Mathematical models required for:

- Investigation of system performance and characteristics
- Aerodynamic databases valid over operational envelope for flight simulators
- High-fidelity / high-bandwidth models for in-flight simulators
- Flight control law design
- Analysis of handling qualities compliance
Aerodynamic databases from flight data

- Analytical estimates: validity and inadequate theory !
- Wind-tunnel predictions: model scaling, Reynold's number,
dynamic derivatives, cross coupling,
aero-servo-elastic effects !!
Introduction/17
Introduction/18
Historical Background (1)

The Apple and Newtonian gravity:
Sir Isaac Newton (1642-1727):
Observed process => model => numerical values
C. F. Gauss (1777-1855):
problem during evaluation of astronomical measurements:
True values q1, q2, ...., qr of physical constants are unknown (trajectory
parameters of a planet). q1, ...., qr are however not measured.
Related parameters are observed, whose true values f1, ...., fr depend
on q1, ...., qr according to some rule: fi = fi(q1, ...., qr ).
Q: Which values of i define the observations at best?

Least Squares method (1795)
Daniel Bernoulli (1700-1782):

The most probable choice between several discrepant
observations and the formation of the most likely induction (1777)
Introduction/19

Dynamic Response Flight Testing
Time-Vector Method
r
1919 -1923 (Glauert, Norton)

Step input:
- Sand Dropping from Wing Tips
1940's (Milliken)
Steady State Sinusoidal Response
- Circle Diagram: Effective Damping
and Spring Constant
- Analytical Method - Aero. Derivatives
Early 1950 (Seamans)

Pulse Transient Response
- Fourier Transformation
- Electro-mechanical Synthesizer
1950's (Doetsch, Breuhaus, Wolowicz)
Time Vector Method
1960's (Rampy)
Analog Matching
-C l r
-
-I xz
r
r
1/2 V Sb r
-C l
p
I xx
2
1/2 V Sb r
-Cl p
p
r
Analysis of Dutch Roll Oscillation:

- Graphical method
- Time invariance of amplitude and phase
between the degrees of freedom
- C l , C lp, C lr : Only two derivatives
Introduction/20

Estimation of Damping-in-Roll Derivative:
NACA Report 167, by F. H. Norton, 1923
Flight Test Technique:
- Load sand boxes on each wing tip,
one pound each, distance to CG 14.7 ft
- Steady flight
- Excitation:
Suddenly release sand in one box,
box emptied in < 0.5 sec
Sand box
- Allow aircraft to roll up to 90 bank

with neutral controls
- Rudder was kicked over and then
other box emptied.
- Tests were carried out in smooth air
- Carefully executed repeat runs
(test to test scatter within 0.01 rad/s)
Introduction/21

Estimation of Damping-in-Roll Derivative:
NACA Report 167, by F. H. Norton, 1923
Recordings:
- angular rate: electrically driven gyro
- Angular velocity recorder;
was calibrated frequently on a
revolving table, accuracy 0.01 rad/s
Aircraft mass characteristics:

- Sand was weighed out in every
case to within 1%
Methods and Models:
Perceptions of SysID 80 years back !
C-160 Example will be shown later
- Simple basic formula for estimation:

Lp = M / (mass*p) ==> M =150 x 14.7
Results
- Flight estimate 40% lower than the
WT prediction from small oscillations
More complex methods and models

in the modern Era 1966-2006
Introduction/22

Simplified-Equations and Analog-Matching Methods
Simplified-Equations Method
Analog-Matching Method
Principle:
For selected types of responses the
effect of only a few coefficients
dominates.
Principle:
Solve equations of motion on
analog computer; manually tune
parameters to match the response
to flight data.
r&
Nr
r
Ruder pulse
p&
p
La
Lp
a
a
Aileron pulse
Lp La
a
p
Aileron step
d
r
L Lr
La a
d
d
Steady sideslip
N 2 + L
d
Dutch roll
- limited to a few primary derivatives

- time consuming
- ingenuity of operator
Introduction/23
Introduction/24
Transition Phase
Classical Approach
1919 - mid 1960's
Late 1960's
Classical
Methods
Modern Era
1966 - 2006
Advanced
Methods
- Deterministic
- Graphical
(Paper & Pencil)
- Statistical analysis
- Frequency domain
- Analog computation
Dinosauric
Digital
Computation
- Time domain
- Frequency domain
- Digital computation
Fortran
Laptops
Matlab
Introduction/25
Unified Approach to Flight Vehicle System Identification

Quad-M Basics
Maneuver
Input
Optimized
Input
Actual
Response
Flight Vehicle
Methods
A Priori Values,
lower/upper
bounds
Estimation
Algorithm /
Optimization
Models
Model
Structure
Measurements
Mathematical
Model /
Simulation
Data Collection
& Compatibility
Parameter Estimation
Identification
Criteria
Response
Error
Parameter
Adjustments
Model Response
Identification Phase
Model
Complementary
Flight Data
Validation
Validation Phase
Introduction/26
References (1)
Introduction/27
References (2)
Jategaonkar, R. V.,
Flight Vehicle System Identification: A Time Domain Methodology,
Volume 216, AIAA Progress in Astronautics and Aeronautics Series
Published by AIAA Reston, VA, Aug. 2006, ISBN: 1-56347-836-6
http://www.aiaa.org/content.cfm?pageid=360&id=1447
Hamel, P. G. and Jategaonkar, R. V., Evolution of Flight Vehicle System Identification, Journal of
Aircraft, Vol. 33, No. 1, Jan.-Feb. 1996, pp. 9-28.
Hamel, P. G. and Jategaonkar, R. V., The Role of System Identification for Flight Vehicle Applications Revisited, RTO-MP-11, March 1999, Paper No. 2.
Iliff K. W., Parameter Estimation for Flight Vehicles Journal of Guidance, Control, and Dynamics,
Vol. 12, No. 5, Sept.-Oct. 1989, pp. 609-622.
Klein, V., Estimation of Aircraft Aerodynamic Parameters from Flight Data, Progress in Aerospace
Sciences, Vol. 26, Pergamon, Oxford, UK, 1989, pp. 1-77.
Maine, R. E. and Iliff, K. W., Identification of Dynamic Systems, AGARD AG-300, Vol. 2, Jan. 1985.
Maine, R. E. and Iliff, K. W., Identification of Dynamic Systems - Applications to Aircraft. Part 1:
The Output Error Approach, AGARD AG-300, Vol. 3, Pt. 1, Dec. 1986.
Walter, . And Pronzato, L., Identification of Parametric Models, Springer, Berlin, 1997.
Jategaonkar, R. V., (Guest ed.), Special Section: Flight Vehicle System ID - Part 1,
Journal of Aircraft, Vol. 41, No. 4, 2004, pp. 681-764.
Jategaonkar, R. V., (Guest ed.), Special Section: Flight Vehicle System ID - Part 2,
Journal of Aircraft, Vol. 42, No. 1, 2005, pp. 11-92.
Introduction/28

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One-Day Tutorial on

Flight Vehicle System Identification in Time Domain

Dr. Ravindra Jategaonkar

This page is left intentionally blank.

Dr. Ravindra Jategaonkar

This page is left intentionally blank.

Dr. Ravindra Jategaonkar

Objectives and Key Topics of the Tutorial

This page is left intentionally blank.

Dr. Ravindra Jategaonkar

What is System Identification? (1)

Classical problem (Simulation):

Dr. Ravindra Jategaonkar

What is System Identification? (2)

What is System Identification? (3)

System Identification is the determination,

Given the answer, what are the questions,

SysID: an Inverse Problem

Concerned with the mathematical

(2) Parameter Estimation

In the commonly used terminology PID appropriate?

What is System Identification? (4)

Dr. Ravindra Jategaonkar

What is System Identification? (5)

Higher Order Dynamics

Flight Mechanics Modeling

What is System Identification? (6)

AIM: To determine unknown model parameters such that the model

Some Fundamental Assumptions

It is possible to carry out specific experiments:

Measurements of system inputs and outputs are available:

Physical principles underlying the dynamic process can be modeled:

Dr. Ravindra Jategaonkar

Model Characterization (1)

- model structure and order assumed,

Dr. Ravindra Jategaonkar

- impulse response, frequency response

Model Characterization (2)

Dr. Ravindra Jategaonkar

Model Characterization (3)

Ockham: English theologian and Philosopher, early 14th Century

Dr. Ravindra Jategaonkar

Why System Identification?

Mathematical models required for:

Aerodynamic databases from flight data

This page is left intentionally blank.

Dr. Ravindra Jategaonkar

Historical Background (1)

Q: Which values of i define the observations at best?

Daniel Bernoulli (1700-1782):

Historical Background (2)

1919 -1923 (Glauert, Norton)

Early 1950 (Seamans)

Analysis of Dutch Roll Oscillation:

Historical Background (3)

- Allow aircraft to roll up to 90 bank

Dr. Ravindra Jategaonkar

Historical Background (4)

Aircraft mass characteristics:

Methods and Models:

Perceptions of SysID 80 years back !

C-160 Example will be shown later

- Simple basic formula for estimation:

More complex methods and models