Precision Pilot Model

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The exact model of the pilot.

blockType: SubSystem

Path in the library:

/Aerospace/Pilot Models/Precision Pilot Model

Description

The Precision Pilot Model block is the pilot model described in Mathematical Models of Human Pilot Behaviour [1]. This pilot model provides greater accuracy than the blocks Tustin Pilot Model and Crossover Pilot Model. This model has a non-linear behaviour. The model also takes into account the neuromuscular dynamics of the pilot:

where

- is the gain of the pilot transfer function;
- pilot lag constant, s;
- time constant of the numerator of the pilot transfer function, s;
- time constant of the denominator of the pilot transfer function, s;
- time constant of the neuromuscular system;
- neuromuscular frequency;
- neuromuscular damping coefficient.

Ports

Input

# x com — command signal
`scalar

Details

A command signal to which the pilot responds.

Data types	`Float64`.
Complex numbers support	No

# x — pilot-controlled signal
`scalar

Details

A signal controlled by the pilot.

Data types	`Float64`.
Complex numbers support	No

Output

# u — pilot signal
"scalar

Details

Command signal from the pilot.

Data types	`Float64`.
Complex numbers support	No

Parameters

# Type of control: — type of dynamics of pilot behaviour
Propotional | Rate of velocity | Acceleration | Second order

Details

Type of pilot behaviour dynamics.

Values	`Propotional` \| `Rate of velocity` \| `Acceleration` \| `Second order`
Default value	`Propotional`
Program usage name	`type`
Tunable	No
Evaluatable	Yes

# Pilot gain: — pilot gain

Details

The gain of the pilot transfer function.

Default value	`1.0`
Program usage name	`Kp`
Tunable	No
Evaluatable	Yes

# Pilot time delay (s): — pilot lag constant

Details

Pilot lag constant, s. Usually the value is in the range from 0.1 s to 0.2 s.

Default value	`0.1`
Program usage name	`time_delay`
Tunable	No
Evaluatable	Yes

# Equalizer lead constant: — numerator time constant

Details

Time constant of the numerator of the pilot transfer function, s.

Dependencies

To use this parameter, set the Type of control parameters to Proportional, Acceleration or Second order.

Default value	`5.0`
Program usage name	`TL`
Tunable	No
Evaluatable	Yes

# Equalizer lag constant: — denominator time constant

Details

Time constant of the denominator of the pilot transfer function, s.

Dependencies

To use this parameter, set the Type of control parameters to Proportional, Acceleration or Second order.

Default value	`5.0`
Program usage name	`TI`
Tunable	No
Evaluatable	Yes

# Lag constant for neuromuscular system: — neuromuscular time constant

Details

The time constant of the neuromuscular system.

Default value	`0.1`
Program usage name	`TN1`
Tunable	No
Evaluatable	Yes

# Undamped natural frequency neuromuscular system (rad/s): — the unquenched natural frequency of the neuromuscular system

Details

Undamped natural frequency of the neuromuscular system, rad/s.

Default value	`20.0`
Program usage name	`nat_freq`
Tunable	No
Evaluatable	Yes

# Damping neuromuscular system: — neuromuscular damping coefficient

Details

Neuromuscular damping coefficient.

Default value	`0.7`
Program usage name	`damp`
Tunable	No
Evaluatable	Yes

# Controlled element undamped natural frequency (rad/s): — natural frequency of undamped oscillations of the controlled element

Details

Natural frequency of un-damped oscillations of the controlled element, rad/s.

Dependencies

To use this parameter, set the Type of control parameters to Second order.

Default value	`15.0`
Program usage name	`omega_m`
Tunable	No
Evaluatable	Yes

Literature

McRuer, D. T., Krendel, E., Mathematical Models of Human Pilot Behaviour. Advisory Group on Aerospace Research and Development AGARDograph 188, Jan. 1974.
McRuer, D. T., Graham, D., Krendel, E., and Reisener, W., Human Pilot Dynamics in Compensatory Systems. Air Force Flight Dynamics Lab. AFFDL-65-15. 1965